TY - JOUR
T1 - Direct plane tracking in stereo images for mobile navigation
AU - Corso, Jason
AU - Burschka, Darius
AU - Hager, Gregory
PY - 2003
Y1 - 2003
N2 - We present a novel plane tracking algorithm based on the direct update of surface parameters from two stereo images. The plane tracking algorithm is posed as an optimization problem, and maintains an iteratively re-weighted least squares approximation of the plane's orientation using direct pixel measurements. To facilitate autonomous operation, we include an algorithm for robust detection of significant planes in the environment. The algorithms have been implemented in a robot navigation system.
AB - We present a novel plane tracking algorithm based on the direct update of surface parameters from two stereo images. The plane tracking algorithm is posed as an optimization problem, and maintains an iteratively re-weighted least squares approximation of the plane's orientation using direct pixel measurements. To facilitate autonomous operation, we include an algorithm for robust detection of significant planes in the environment. The algorithms have been implemented in a robot navigation system.
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M3 - Conference article
AN - SCOPUS:0344013511
SN - 1050-4729
VL - 1
SP - 875
EP - 880
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2003 IEEE International Conference on Robotics and Automation
Y2 - 14 September 2003 through 19 September 2003
ER -