Detection and Localization of Curbs and Stairways Using Stereo Vision
Xiaoye Lu,Roberto Manduchi +1 more
- pp 4648-4654
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TLDR
These algorithms combine brightness information (in the form of edgels) with 3-D data from a commercial stereo system to detect and precisely localize curbs and stairways for autonomous navigation.Abstract:
We present algorithms to detect and precisely localize curbs and stairways for autonomous navigation. These algorithms combine brightness information (in the form of edgels) with 3-D data from a commercial stereo system. The overall system (including stereo computation) runs at about 4 Hz on a 1 GHz laptop. We show experimental results and discuss advantages and shortcomings of our approach.read more
Citations
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RGB-D image-based detection of stairs, pedestrian crosswalks and traffic signs
TL;DR: A new framework to detect and recognize stairs, pedestrian crosswalks, and traffic signals based on RGB-D (Red, Green, Blue, and Depth) images is developed.
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First-Person Vision
Takeo Kanade,Martial Hebert +1 more
TL;DR: This paper argues that the first-person vision (FPV), which senses the environment and the subject's activities from a wearable sensor, is more advantageous with images about thesubject's environment as taken from his/her view points, and with readily available information about head motion and gaze through eye tracking.
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CC-RANSAC: Fitting planes in the presence of multiple surfaces in range data
TL;DR: Experimental evidence is provided that CC-RANSAC may recover the planar patches composing a typical step or ramp with substantially higher accuracy than the traditional RANSAC algorithm.
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NCC-RANSAC: a fast plane extraction method for 3-D range data segmentation.
Xiangfei Qian,Cang Ye +1 more
TL;DR: Experimental results demonstrate that the proposed method extracts more accurate planes with less computational time than the existing RANSAC-based methods.
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A Head-Wearable Short-Baseline Stereo System for the Simultaneous Estimation of Structure and Motion
TL;DR: A short-baseline real-time stereo vision system that is capable of the simultaneous and robust estimation of the ego-motion and of the 3D structure and the independent motion of thousands of points of the environment and can be used to augment the perception of the user in complex dynamic environments.
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