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Stereo Vision Based Floor Plane Extraction and Camera Pose Estimation

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Intelligent Robotics and Applications (ICIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5928))

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Abstract

In this paper, we present a unified approach for floor plane extraction and camera pose estimation. A histogram based method is performed on the reconstructed 3-D points obtained by an onboard video-rate stereo vision system to extract candidate points of the floor plane and determine the pose of vision system simultaneously. The obstacle area is easily localized given the floor plane region. In order to improve reliability and accuracy of camera pose estimation results, the Least Median of Squares (LMedS) based fitting method is applied to estimate the floor plane parameters with the extracted candidate points. The precise pose of the onboard stereo vision system is directly acquired related to the floor plane parameters. Experimental results in real indoor environments are discussed and show the good performance.

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Author information

Authors and Affiliations

  1. Beijing Laboratory of Intelligent Information Technology, School of Computer Science, Beijing Institute of Technology, Beijing, 100081, P.R. China

    Lei Chen, Zhongli Wang & Yunde Jia

  2. State Key Lab. of Robotics and System, Harbin Institute of Technology, Harbin, P.R. China

    Zhongli Wang

Authors
  1. Lei Chen
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  2. Zhongli Wang
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  3. Yunde Jia
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Editor information

Editors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, Singapore

    Ming Xie

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Youlun Xiong

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P.R. China

    Caihua Xiong

  4. Institute of Industrial Research, University of Portsmouth, PO1 3QL, Portsmouth, UK

    Honghai Liu

  5. Department of Computer Science and Electrical Engineering, Kumamoto University, 860-8555, Kumamoto, Japan

    Zhencheng Hu

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© 2009 Springer-Verlag Berlin Heidelberg

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Chen, L., Wang, Z., Jia, Y. (2009). Stereo Vision Based Floor Plane Extraction and Camera Pose Estimation. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_82

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  • DOI: https://doi.org/10.1007/978-3-642-10817-4_82

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-10816-7

  • Online ISBN: 978-3-642-10817-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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