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Dominant Plane Detection Using Optical Flow and Independent Component Analysis

  • Naoya Ohnishi
  • Atsushi Imiya
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3704)

Abstract

Dominant plane is an area which occupies the largest domain in an image. Estimation of the dominant plane is an essential task for the autonomous navigation and the path planning of the mobile robot equipped with a vision system, since the robot moves on the dominant plane. In this paper, we develop an algorithm for dominant plane detection using optical flow and Independent Component Analysis(ICA). Since the optical flow field is a mixture of flows of the dominant plane and the other area, we separate the dominant plane using ICA. Using the initial data as a supervisor signal, the robot detects the dominant plane. For each image in a sequence, the dominant plane corresponds to an independent component. This relation provides us a statistical definition of the dominant plane. Experimental results using real image sequence show that our method is robust against a perturbation of the motion speed of robots.

Keywords

Mobile Robot Image Sequence Independent Component Analysis Optical Flow Path Planning 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Naoya Ohnishi
    • 1
  • Atsushi Imiya
    • 2
  1. 1.School of Science and TechnologyChiba UniversityChibaJapan
  2. 2.Institute of Media and Information TechnologyChiba UniversityChibaJapan

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