Performance of optical flow techniques
International Journal of Computer Vision
Uncalibrated obstacle detection using normal flow
Machine Vision and Applications
Independent component analysis: algorithms and applications
Neural Networks
3D environment modeling from multiple cylindrical panoramic images
Panoramic vision
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Topographic Independent Component Analysis
Neural Computation
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
ICA-based image analysis for robot vision
ICA'07 Proceedings of the 7th international conference on Independent component analysis and signal separation
Hi-index | 0.00 |
Dominant plane is an area which occupies the largest domain in an image. A dominant plane detection is an essential task for an autonomous navigation of mobile robots equipped with a vision system, since we assume that robots move on the dominant plane. In this paper, we develop an algorithm for the dominant plane detection using optical flow and Independent Component Analysis. Since the optical flow field is a mixture of flows of the dominant plane and the other area, we separate the dominant plane using Independent Component Analysis. Using an initial data as a supervisor signal, the robot detects the dominant plane. For each image in a sequence, the dominant plane corresponds to an independent component. This relation provides us a statistical definition of the dominant plane. Experimental results using a real image sequence show that our method is robust against a non-unique velocity of the mobile robot motion.