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2014 | OriginalPaper | Chapter

Ground Plane Detection Using an RGB-D Sensor

Authors : Doğan Kırcalı, F. Boray Tek

Published in: Information Sciences and Systems 2014

Publisher: Springer International Publishing

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Abstract

Ground plane detection is essential for successful navigation of vision based mobile robots. We introduce a very simple but robust ground plane detection method based on depth information obtained using an RGB-Depth sensor. We present two different variations of the method: the simplest one is robust in setups where the sensor pitch angle is fixed and has no roll, whereas the second one can handle changes in pitch and roll angles. Our comparisons show that our approach performs better than the vertical disparity approach. It produces accurate ground plane-obstacle segmentation for difficult scenes, which include many obstacles, different floor surfaces, stairs, and narrow corridors.

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Metadata
Title
Ground Plane Detection Using an RGB-D Sensor
Authors
Doğan Kırcalı
F. Boray Tek
Copyright Year
2014
Book
Information Sciences and Systems 2014

Print ISBN: 978-3-319-09464-9

Electronic ISBN: 978-3-319-09465-6

Copyright Year: 2014

DOI
https://doi.org/10.1007/978-3-319-09465-6_8

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