지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.5
- 수록면
- 525 - 529 (5page)
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초록· 키워드
오류제보하기
Detecting a planar surface in real world(3D) is important to recognize environment for mobile robot. Especially, planar surface in indoor environment structured plane can be used for information to navigate safely and recognize the plane for task. This paper proposes a method to detect plane regions using the affine homography from image pair. First, using image pair from monocular sequence, corresponding point is obtained by SURF. At least three corresponding points are used to calculate the affine homography that represents a plane in the image. That is used for detecting points belonging to the same plane based on the reprojection error. Using points lying on the same plane first, we find new affine homography to minimize the reprojection error. When the reprojection error can not minimize any longer, the homography will be optimum planar homography. Experiment results are performed in different sequence of indoor image pair from wheeled mobile robot and results are shown in section 4.
목차
Abstract
1. 서론
2. 평면 호모그래피
3. 평면 검출
4. 결과
5. 결론
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UCI(KEPA) : I410-ECN-0101-2014-569-000865079