Original scientific paper

Detection of dominant planar surfaces in disparity images based on random sampling

Robert Cupec orcid.org/0000-0003-4451-7952 ; Faculty of Electrical Engineering, Josip Juraj Strossmayer University of Osijek, Kneza Trpimira 2B, HR-31000 Osijek, Croatia
E. Karlo Nyarko orcid.org/0000-0001-8041-3646 ; Faculty of Electrical Engineering, Josip Juraj Strossmayer University of Osijek, Kneza Trpimira 2B, HR-31000 Osijek, Croatia
Ratko Grbić ; Faculty of Electrical Engineering, Josip Juraj Strossmayer University of Osijek, Kneza Trpimira 2B, HR-31000 Osijek, Croatia

Abstract

In this paper, the applicability of RANSAC-approach to planar surface detection in disparity images obtained by stereo vision is investigated. This study is specially focused on application in indoor environments, where many of the dominant surfaces are uniformly colored, which poses additional difficulties to stereo vision. Several simple modifications to the basic RANSAC-algorithm are examined and improvements achieved by these modifications are evaluated. Two simple performance measures for evaluating the accuracy of planar surface detection are proposed. An experimental study is performed using images acquired by a stereo vision system mounted on a mobile robot moving in an indoor environment.

Keywords

image segmentation; planar surface detection; RANSAC

Hrčak ID:

71807

URI

https://hrcak.srce.hr/71807

Publication date:

26.9.2011.

Article data in other languages: croatian

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