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
Independent component analysis of layer optical flow and its application
BVAI'07 Proceedings of the 2nd international conference on Advances in brain, vision and artificial intelligence
| Hi-index | 0.00 |
Dominant plane is an area which occupies the largest domain in an image. Estimation of the dominant plane is an essential task for the autonomous navigation and the path planning of the mobile robot equipped with a vision system, since the robot moves on the dominant plane. In this paper, we develop an algorithm for dominant plane detection using optical flow and Independent Component Analysis(ICA). Since the optical flow field is a mixture of flows of the dominant plane and the other area, we separate the dominant plane using ICA. Using the 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 real image sequence show that our method is robust against a perturbation of the motion speed of robots.