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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)

Abstract

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.

Keywords

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.

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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

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