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Novel dominant plant detection algorithm for image sequence
Fan BJ(范保杰); Du YK(杜英魁)
作者部门机器人学研究室
会议名称2013 7th International Conference on Image and Graphics, ICIG 2013
会议日期July 26-28, 2013
会议地点Qingdao, Shandong, China
会议录名称Proceedings; 2013 7th International Conference on Image and Graphics, ICIG 2013
出版者IEEE Computer Society
出版地Washington, DC
2013
页码313-317
收录类别EI
EI收录号20140117162057
产权排序2
ISBN号978-0-7695-5050-3
关键词Algorithms Three Dimensional
摘要Dominant plane is an important geometric feature and can be used in a wide range of applications. In this paper, we develop a robust technology for dominant plane detection using the progressive structure from motion and dominant plane fitting algorithms. Firstly, we propose a progressive structure from motion algorithm to reconstruct the real scene from the image sequences, and obtain the information of three-dimensional points in the scene. In the following, based on the least median square (LMedSq) estimation and ransac theory, we present a novel plane fitting algorithm to find the dominant plane near the scene surface from the reconstructive points. Experimental results from different outdoor scenarios show that the proposed reconstruction algorithm obtains dense 3D point cloud, and achieves satisfactory recovery from image sequence. Then, the plane fitting algorithm accurately detects the dominant plane region from the reconstructive points. The detected plane is the approximation for local surface and meets the actual scene. These tests verify that the proposed method is effective, accurate and robust.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/14591
专题机器人学研究室
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Fan BJ,Du YK. Novel dominant plant detection algorithm for image sequence[C]. Washington, DC:IEEE Computer Society,2013:313-317.
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