Homography-based ground detection for a mobile robot platform using a single camera

@article{Zhou2006HomographybasedGD,
  title={Homography-based ground detection for a mobile robot platform using a single camera},
  author={Jin Zhou and Baoxin Li},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
  year={2006},
  pages={4100-4105}
}
This paper presents a practical approach to ground detection in mobile robot applications based on a monocular sequence captured by an on-board camera. We formulate the problem of ground plane detection as one of estimating the dominant homography between two frames taken from the sequence, and then design an efficient algorithm for the estimation. In particular, we analyze a problem inherent to any homography-based approach to the given task, and show how the proposed approach can address this… CONTINUE READING
Highly Cited
This paper has 34 citations. REVIEW CITATIONS