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Authors: Naoya Ohnishi ; Yoshihiko Mochizuki ; Atsushi Imiya and Tomoya Sakai

Affiliation: Chiba University, Japan

Keyword(s): Variational image analysis, Fractional differentiation, Optical flow.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Real-Time Vision

Abstract: We introduce an on-line segmentation of a planar area from a sequence of images for visual navigation of a robot. We assume that the robot moves autonomously in a man-made environment without any stored map in the memory or any markers in the environment. Since the robot moves in a man-made environment, we can assume that the robot workspace is a collection of spatial plane segments. The robot is needed to separate a ground plane from an image and/or images captured by imaging system mounted on the robot. The ground plane defines a collision-free space for navigation. We develop a strategy for computing the navigation direction using a hierarchical expression of plane segments in the workspace. The robot is required to extract a spatial hierarchy of plane segments from images. We propose an algorithm for plane segmentation using an optical flow field captured by an uncalibrated moving camera.

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Paper citation in several formats:
Ohnishi, N.; Mochizuki, Y.; Imiya, A. and Sakai, T. (2010). ON-LINE PLANAR AREA SEGMENTATION FROM SEQUENCE OF MONOCULAR MONOCHROME IMAGES FOR VISUAL NAVIGATION OF AUTONOMOUS ROBOT. In Proceedings of the International Conference on Computer Vision Theory and Applications (VISIGRAPP 2010) - Volume 1: VISAPP; ISBN 978-989-674-028-3; ISSN 2184-4321, SciTePress, pages 435-442. DOI: 10.5220/0002825404350442

@conference{visapp10,
author={Naoya Ohnishi. and Yoshihiko Mochizuki. and Atsushi Imiya. and Tomoya Sakai.},
title={ON-LINE PLANAR AREA SEGMENTATION FROM SEQUENCE OF MONOCULAR MONOCHROME IMAGES FOR VISUAL NAVIGATION OF AUTONOMOUS ROBOT},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications (VISIGRAPP 2010) - Volume 1: VISAPP},
year={2010},
pages={435-442},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002825404350442},
isbn={978-989-674-028-3},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the International Conference on Computer Vision Theory and Applications (VISIGRAPP 2010) - Volume 1: VISAPP
TI - ON-LINE PLANAR AREA SEGMENTATION FROM SEQUENCE OF MONOCULAR MONOCHROME IMAGES FOR VISUAL NAVIGATION OF AUTONOMOUS ROBOT
SN - 978-989-674-028-3
IS - 2184-4321
AU - Ohnishi, N.
AU - Mochizuki, Y.
AU - Imiya, A.
AU - Sakai, T.
PY - 2010
SP - 435
EP - 442
DO - 10.5220/0002825404350442
PB - SciTePress

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