Improved Image Dominant Plane Extraction for Robot Navigation

  • Andrés Colín-Espinoza
  • Héctor Alejandro Montes-Venegas
  • María Enriqueta Barilla-Pérez
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 156)


The dominant plane is a planar area that occupies the largest portion of an image captured by a camera. In this paper, we present an improved method for extracting the dominant plane from optical flow and use the resultant image to steer a mobile robot along a corridor route. In this route the dominant plane is the free space where the robot can navigate without colliding with the obstacles cluttering the environment. Our experimental results illustrate significant performance improvements over those published in previous works.


Mobile Robot Optical Flow Tolerance Range Robot Navigation Consecutive Image 
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.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Barron, J.L., Fleet, D.J., Beauchemin, S.S.: Performance of optical flow techniques. Int. J. Comput. Vision 12(1), 43–77 (1994)CrossRefGoogle Scholar
  2. 2.
    Beauchemin, S.S., Barron, J.L.: The computation of optical flow. ACM Comput. Surv. 27(3), 433–466 (1995)CrossRefGoogle Scholar
  3. 3.
    Bouguet, J.-Y.: Pyramidal implementation of the lucas kanade feature tracker, description of the algorithm. Technical report, Intel Corporation, Microprocesor Research Labs (1999)Google Scholar
  4. 4.
    DeSouza, G., Kak, A.C.: Vision for mobile robot navigation: A survey. IEEE Transactions on Pattern Analysis and Machine Intelligence 24(2), 237–267 (2002)CrossRefGoogle Scholar
  5. 5.
    Kim, D., Nevatia, R.: A method for recognition and localization of generic objects for indoor navigation. Image and Vision Computing 16, 729–743 (1994)CrossRefGoogle Scholar
  6. 6.
    Lucas, B.D., Kanade, T.: An iterative image registration technique with an application to stereo vision. In: Proceedings of the 7th International Joint Conference on Artificial Intelligence (IJCAI 1981), pp. 674–679 ( April 1981)Google Scholar
  7. 7.
    Mccarthy, C., Barnes, N.: Performance of optical flow techniques for indoor navigation with a mobile robot. In: Proceedings of the IEEE International Conference on Robotics & Automation, pp. 5093–5098 (2004)Google Scholar
  8. 8.
    Nakamura, T., Asada, M.: Motion sketch: Acquisition of visual motion guided behaviors. In: Proc. of IJCAI 1995, pp. 126–132. Morgan Kaufmann, San Francisco (1995)Google Scholar
  9. 9.
    Ohnishi, N., Imiya, A.: Featureless robot navigation using optical flow. Connection Science 17(1-2), 23–46 (2005)CrossRefGoogle Scholar
  10. 10.
    Ohnishi, N., Imiya, A.: Dominant plane detection from optical flow for robot navigation. Pattern Recogn. Lett. 27(9), 1009–1021 (2006)CrossRefGoogle Scholar
  11. 11.
    Santos-Victor, J., Sandini, G., Curotto, F., Garibaldi, S.: Divergent stereo in autonomous navigation: from bees to robots. Int. J. Comput. Vision 14(2), 159–177 (1995)CrossRefGoogle Scholar
  12. 12.
    Vamossy, Z.: Pal-based environment mapping for mobile robot navigation. Technical report, Institute of Software Technology, John von Neumann Faculty of Informatics, Budapest Tech (2007)Google Scholar
  13. 13.
    Wolf, J., Burgard, W., Burkhardt, H.: Robust vision-based localization by combining an image retrieval system with monte carlo localization. IEEE Transactions on Robotics 21(2), 208–216 (2005)CrossRefGoogle Scholar
  14. 14.
    Zucchelli, M., Santos-Victor, J., Christensen, H.I.: Multiple plane segmentation using optical flow. In: British Machine Vision Conf., 2002, pp. 313–322 (2002)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Andrés Colín-Espinoza
    • 1
  • Héctor Alejandro Montes-Venegas
    • 1
  • María Enriqueta Barilla-Pérez
    • 1
  1. 1.Universidad Autónoma del Estado de MéxicoTolucaMéxico

Personalised recommendations