平面投影ステレオ法を用いた床検出法による地図作成システムの開発

概要

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We propose an approach to detect floor by binocular stereopsis on stereo images. Binocular stereopsis use stereo vision and a known camera geometry with respect to the planar floor. Generally, we have the disparity depending on relation between the position of two eyes and distance from an object. Such disparity is realized by two cameras. In addition, if we are knowing the height of set-up camera, we can get the disparity when all viewing objects are the floor. When one image is changed by this disparity and compared with another image, an important feature appears. The feature is difference between shape of floor's segmentation and shape of segmentation except floor. We detect floor by comparing the raito of segmented areas. In the experiments, rate of detected floor was more than 80% and this floor detection was also useful for floor with tile.
神戸市立工業高等専門学校の論文