Authors: Piotr Skulimowski, Mateusz Owczarek, Paweł Strumiłło
in: 2017 Federated Conference on Computer Science and Information Systems
Abstract: In this paper we proposed a fast method for detecting the ground plane in 3D scenes for an arbitrary roll angle rotation of a stereo vision camera. The method is based on the analysis of the disparity map and its “V-disparity” representation. First, the roll angle of the camera is identified from the disparity maps. Then, the image is rotated to a zero-roll angle position and the ground plane is detected from the V-disparity map. The proposed method was successfully verified on a simulated 3D scene image sequences as well as on the recorded outdoor stereo video sequences.
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