Direct plane tracking in stereo images for mobile navigation

Jason Corso, Darius Burschka, Gregory Hager

Research output: Contribution to journalConference article

Abstract

We present a novel plane tracking algorithm based on the direct update of surface parameters from two stereo images. The plane tracking algorithm is posed as an optimization problem, and maintains an iteratively re-weighted least squares approximation of the plane's orientation using direct pixel measurements. To facilitate autonomous operation, we include an algorithm for robust detection of significant planes in the environment. The algorithms have been implemented in a robot navigation system.

Original languageEnglish (US)
Pages (from-to)875-880
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - Dec 9 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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