Abstract
We present in this paper a fast and simple free floor detection method. Compared to existing methods the proposed method can handle non-planar camera motion by means of a Three-Step procedure. A fast initial segmentation is followed by an intermediate floor plane estimation to adapt to the camera motion. Then, a final segmentation is done using the estimated plane. This allows for correct segmentation even when the camera moves up and down, tilts or rolls. Outdoor measurements of a road surface were performed with a Time-of-Flight camera mounted in front of a car. The measurements contain three types of road surface: concrete, stone and asphalt. The proposed segmentation takes less than \(1.25\,\)ms per frame for range images with a resolution of 176 by 132, making it fit for real-time applications. The resulting accuracy is higher than the state of the art.
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- 1.
We would like to thank Hyundai BELUX for sponsoring the Hyuandai Veloster.
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Van Crombrugge, I., Azza, I.B., Penne, R., Van Barel, G., Vanlanduit, S. (2017). Fast Ground Detection for Range Cameras on Road Surfaces Using a Three-Step Segmentation. In: Blanc-Talon, J., Penne, R., Philips, W., Popescu, D., Scheunders, P. (eds) Advanced Concepts for Intelligent Vision Systems. ACIVS 2017. Lecture Notes in Computer Science(), vol 10617. Springer, Cham. https://doi.org/10.1007/978-3-319-70353-4_41
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