Hong Joon Ha , Chang Hun Lee

KIPS Transactions on Software and Data Engineering, Vol. 4, No. 10, pp. 465-472, Oct. 2015
10.3745/KTSDE.2015.4.10.465,   PDF Download:

Abstract

We propose a novel plane detection in disparity space and evaluate its performance. Our method simplifies and makes scenes in disparity space easily dealt with by approximating various surfaces as planes. Moreover, the approximated planes can be represented in the same size as in the real world, and can be employed for obstacle detection and camera pose estimation. Using a stereo matching technique, our method first creates a disparity image which consists of binocular disparity values at xy-coordinates in the image. Slants of disparity values are estimated by exploiting a line simplification algorithm which allows our method to reflect global changes against x or y axis. According to pairs of x and y slants, we label the disparity image. 4-connected disparities with the same label are grouped, on which least squared model estimates plane parameters. N plane models with the largest group of disparity values which satisfy their plane parameters are chosen. We quantitatively and qualitatively evaluate our plane detection. The result shows 97.9%와 86.6% of quality in our experiment respectively on cones and cylinders. Proposed method excellently extracts planes from Middlebury and KITTI dataset which are typically used for evaluation of stereo matching algorithms.

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