A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Use of the Hough transformation to detect lines and curves in pictures
Communications of the ACM
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Efficient Graph-Based Image Segmentation
International Journal of Computer Vision
Region Classification for Robust Floor Detection in Indoor Environments
ICIAR '09 Proceedings of the 6th International Conference on Image Analysis and Recognition
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
Homography based Monocular Dense Reconstruction for a Mobile Robot
Proceedings of Conference on Advances In Robotics
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This paper proposes a robust approach for image based floor detection and segmentation from sequence of images or video. In contrast to many previous approaches, which uses a priori knowledge of the surroundings, our method uses combination of modified sparse optical flow and planar homography for ground plane detection which is then combined with graph based segmentation for extraction of floor from images. We also propose a probabilistic framework which makes our method adaptive to the changes in the surroundings. We tested our algorithm on several common indoor environment scenarios and were able to extract floor even under challenging circumstances. We obtained extremely satisfactory results in various practical scenarios such as where the floor and non floor areas are of same color, in presence of textured flooring, and where illumination changes are steep.