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Ground Plane Feature Detection in Mobile Vision-Aided Inertial Navigation
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Communication Theory. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-6855-5868
2012 (English)In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on / [ed] IEEE, IEEE , 2012, 3605-3611 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, a method for determining ground plane features in a sequence of images captured by a mobile camera is presented. The hardware of the mobile system consists of a monocular camera that is mounted on an inertial measurement unit (IMU). An image processing procedure is proposed, first to extract image features and match them across consecutive image frames, and second to detect the ground plane features using a two-step algorithm. In the first step, the planar homography of the ground plane is constructed using an IMU-camera motion estimation approach. The obtained homography constraints are used to detect the most likely ground features in the sequence of images. To reject the remaining outliers, as the second step, a new plane normal vector computation approach is proposed. To obtain the normal vector of the ground plane, only three pairs of corresponding features are used for a general camera transformation. The normal-based computation approach generalizes the existing methods that are developed for specific camera transformations. Experimental results on real data validate the reliability of the proposed method.

Place, publisher, year, edition, pages
IEEE , 2012. 3605-3611 p.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keyword [en]
Consecutive images, Feature detection, Ground planes, Homographies, Image features, Inertial measurement unit, Mobile camera, Mobile systems, Monocular cameras, Normal vector, Planar homography, Processing procedures, Sequence of images, Two-step algorithms, Vision-aided inertial navigation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-99448DOI: 10.1109/IROS.2012.6385503ISI: 000317042704026Scopus ID: 2-s2.0-84872301224ISBN: 978-1-4673-1736-8 (print)OAI: oai:DiVA.org:kth-99448DiVA: diva2:542139
Conference
International Conference on Intelligent Robots and Systems(IROS), October 7-12, 2012. Vilamoura, Algarve, Portugal
Funder
ICT - The Next Generation
Note

QC 20121107

Available from: 2012-11-07 Created: 2012-07-30 Last updated: 2013-06-18Bibliographically approved

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Jansson, Magnus

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