2P1-J08 Plane Detection for Recognizing the Structure of Environment using Omnidirectional Stereo Vision(Vision System for Mobile Robot)

Abstract

This paper proposes a plane detection method for recognizing the structure of environment using the three-dimensional distance information that computed by omnidirectional stereo vision. Omnidirectional stereo vision can acquire a wide field of view, therefore we can detect a many of planes that construct the surroundings. Evaluation of the proposed method is don e by the experiments on a simulation environment. The evaluation results show the effectiveness of the proposed method.