Plane detection with stereo images

@article{Piazzi2006PlaneDW,
  title={Plane detection with stereo images},
  author={Jacopo Piazzi and Domenico Prattichizzo},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
  year={2006},
  pages={922-927}
}
This paper presents how to detect planes from a set of corresponding points with a stereo camera system. We show that, in the presence of two cameras aligned to the same orientation, it is possible to compute the normal vector to a plane by using only three corresponding points whereas with traditional methods this computation requires at least four points and the decomposition of the homography matrix. We obtain the triangulation of the set of features and we compute for every triangle its… CONTINUE READING
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