Affine height landscapes for monocular mobile robot obstacle avoidance
نویسندگان
چکیده
In this paper, we propose a method to segment the ground plane from a mobile robot’s visual field of view and then measure the height of non-ground plane features (even raw pixels) above the mobile robot’s ground plane. Thus a mobile robot can determine what it can drive over, what it can drive under, and what it needs to manoeuvre around. In addition to obstacle avoidance, this data could also be used for localisation and map building. All of this is possible from an uncalibrated camera (raw pixel coordinates only), but is restricted to (near) pure translation motion of the camera. The main contributions are (i) a novel reciprocal-polar (RP) image rectification, (ii) ground plane segmentation by sinusoidal model fitting in RP-space and (iii) a novel projective construction for measuring affine height.
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