Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
Divergent stereo in autonomous navigation: from bees to robots
International Journal of Computer Vision - Special issue on qualitative vision
Quantitative planar region detection
International Journal of Computer Vision
International Journal of Computer Vision
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Surface Orientation and Time to Contact from Image Divergence and Deformation
ECCV '92 Proceedings of the Second European Conference on Computer Vision
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
Factorization Methods for Projective Structure and Motion
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Obstacle Detection Using Projective Invariant and Vanishing Lines
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Improving four-parameter sine wave fitting by normalization
Computer Standards & Interfaces
On the condition of four-parameter sine wave fitting
Computer Standards & Interfaces
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We propose a method to segment the ground plane from a mobile robot's visual field of view and then measure the height of nonground plane features above the mobile robot's ground plane. Thus a mobile robot can determine what it can drive over, what it can drive under, and what it needs to manoeuvre around. In addition to obstacle avoidance, this data could also be used for localisation and map building. All of this is possible from an uncalibrated camera (raw pixel coordinates only), but is restricted to (near) pure translation motion of the camera. The main contributions are (i) a novel reciprocal-polar (RP) image rectification, (ii) ground plane segmentation by sinusoidal model fitting in RP-space, (iii) a novel projective construction for measuring affine height, and (iv) an algorithm that can make use of a variety of visual features and therefore operate in a wide variety of visual environments.