An Approach for 2D Visual Occupancy Grid Map Using Monocular Vision

This paper presents an approach that uses planar information (homography matrix) to build a visual 2D occupancy grid map from monocular vision. Initially, a segmentation step is necessary to classify parts of the image in floor or non floor. From this classification is possible to determine which pa...

Full description

Saved in:
Bibliographic Details
Published in:Electronic notes in theoretical computer science 2011-12, Vol.281, p.175-191
Main Authors: Santana, André M., Aires, Kelson R.T., Veras, Rodrigo M.S., Medeiros, Adelardo A.D.
Format: Article
Language:English
Subjects:
Image Segmentation
Monocular Vision
Visual Occupancy Grid Maps
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents an approach that uses planar information (homography matrix) to build a visual 2D occupancy grid map from monocular vision. Initially, a segmentation step is necessary to classify parts of the image in floor or non floor. From this classification is possible to determine which parts of the image are free and which parts of the image are obstacles. Practical results are presented to validate the proposal.
ISSN:1571-0661
1571-0661
DOI:10.1016/j.entcs.2011.11.033