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IROS
2009
IEEE

Fast detection of arbitrary planar surfaces from unreliable 3D data

9 years 10 months ago
Fast detection of arbitrary planar surfaces from unreliable 3D data
Abstract— Man-made real-world environments are dominated by planar surfaces many of which constitute behaviorrelevant entities. Thus, the ability to perceive planar surfaces is vital for any embodied system operating in such environments, be it human or robotic. In this paper, we present an architecture for detection and estimation of planar surfaces in the scene from calibrated stereo images. They are represented in a behavior-oriented way, focusing on geometrical properties that are relevant for enabling basic interaction between a robot and the planar surfaces it perceives. Ego-motion of the robot is compensated for by transforming the representations into a global coordinate system using the kinematics of the robot. Our architecture is able to detect and estimate arbitrary planar surfaces, regardless of their visual appearance, their geometrical properties other than planarity and their being static or arbitrarily moving. The latter is achieved by processing each frame independen...
Martin Heracles, Bram Bolder, Christian Goerick
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Martin Heracles, Bram Bolder, Christian Goerick
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