A Monocular Ground Plane Estimation System | Zendy

D. A. Castelow | Zendy; A. J. Rerolle | Zendy

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A Monocular Ground Plane Estimation System

Author(s) -

D. A. Castelow,

A. J. Rerolle

Publication year - 1991

Publication title -

citeseer x (the pennsylvania state university)

Language(s) - English

Resource type - Conference proceedings

DOI - 10.5244/c.5.58

Subject(s) - ground plane , computer science , estimation , monocular , computer vision , artificial intelligence , plane (geometry) , mathematics , engineering , geometry , telecommunications , systems engineering , antenna (radio)

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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