A Monocular Ground Plane Estimation System

descriptionPublicationkeyboard_double_arrow_right Article , Part of book or chapter of book , Conference object 01 Jan 1991Publisher:Springer-Verlag London LimitedJournal:Procedings of the British Machine Vision Conference 1991

Authors: David A. Castelow; A. J. Rérolle;

doi: 10.5244/c.5.58 , 10.1007/978-1-4471-1921-0_58

A Monocular Ground Plane Estimation System

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Abstract

This paper describes the design of a system for estimating the pose of a camera mounted on a vehicle which moves over a flat floor. The system has been designed to work in conjunction with an obstacle avoidance scheme. Measurements are derived from a sequence of images captured by a single camera rigidly mounted on the vehicle and looking at the floor, and combined with measurements of the vehicle position in an extended Kalman filter (EKF). The filter is tested using simulation data.

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