Robust estimation of planar surfaces using spatio-temporal RANSAC for applications in autonomous vehicle navigation

Robotics and Autonomous Systems

Volumn 60, Issue 1, 2012, Pages 16-28

  Mufti, Faisal ^a   Mahony, Robert ^b   Heinzmann, Jochen ^c  

^a CENTER FOR ADVANCED STUDIES IN ENGINEERING   (Pakistan)

^b AUSTRALIAN NATIONAL UNIVERSITY   (Australia)

^c Australian Capital Territory   (Australia)

Author keywords

Detection; Ground plane; Navigation; Obstacle avoidance; RANSAC; Robustness; Segmentation; Time of flight cameras

Indexed keywords

AUTOMOTIVE SAFETY; AUTONOMOUS VEHICLE NAVIGATION; DEPTH MAP; FREE SPACE; FUNDAMENTAL PROBLEM; GROUND PLANES; HYPOTHESES GENERATION; LINEAR MOTION MODELS; LOW RESOLUTION; MOBILE ROBOTIC; PARKING LOTS; PLANAR SURFACE; POTENTIAL APPLICATIONS; POTENTIAL HAZARDS; RANGE SENSORS; RANSAC; REFRESH RATE; ROBUST ESTIMATION; SPATIAL AND TEMPORAL VARIATION; SPATIAL RESOLUTION; SPATIO-TEMPORAL; SPATIO-TEMPORAL MODELS; TEMPORAL IMAGES; TEMPORAL INFORMATION; TIME OF FLIGHT; TIME-OF-FLIGHT CAMERAS; UNSTRUCTURED ENVIRONMENTS; VEHICULAR NAVIGATION; VIDEO DATA; VIDEO FRAME;

ALGORITHMS; CAMERAS; ESTIMATION; MOTION ESTIMATION; NAVIGATION SYSTEMS; STATISTICAL TESTS; THREE DIMENSIONAL; UNCERTAINTY ANALYSIS; VEHICLES;

NAVIGATION;

EID: 80955134087     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2011.08.009     Document Type: Article

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