Ground Plane Obstacle Detection using Projective Geometry
نویسنده
چکیده
|The problem addressed in this paper is obstacle detection in the context of mobile robot navigation using visual information. The goal is achieved by analyzing successive pairs of time varying images acquired with the TV camera mounted on the moving robot. Assuming the robot is moving on a at ground, any obstacle is identi ed by any cluster of points not coplanar with the largest number of points lying on the ground plane. We identify a planar surface by a set of points characterized by the projective invariance of the cross ratio
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