Piecewise Planar Modeling for Step Detection using Stereo Vision

Abstract : A mobility aid for the visually impaired should be able to detect and warn about nearby obstacles. Reliable detection of curbs and steps is critical to meet this goal. This paper describes a stereo-vision based algorithm that estimates the underlying planar geometry of the 3D scene to generate hypotheses for the presence of steps. Tensor voting is used to calculate globally consistent normals at each data point and a clustering algorithm is described to generate a piecewise planar model of the scene. Results demonstrate the improvement in plane clustering using tensor voting and the ability of the algorithm to find sufficient evidence for the presence of curbs and steps.
Type de document :
Communication dans un congrès
Workshop on Computer Vision Applications for the Visually Impaired, Oct 2008, Marseille, France. 2008
Liste complète des métadonnées

Littérature citée [17 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00325448
Contributeur : Peter Sturm <>
Soumis le : lundi 29 septembre 2008 - 13:20:58
Dernière modification le : dimanche 17 décembre 2017 - 07:04:03
Document(s) archivé(s) le : vendredi 4 juin 2010 - 11:54:36

Fichier

PiecewisePlanarModeling.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00325448, version 1

Collections

Citation

Vivek Pradeep, Gerard Medioni, James Weiland. Piecewise Planar Modeling for Step Detection using Stereo Vision. Workshop on Computer Vision Applications for the Visually Impaired, Oct 2008, Marseille, France. 2008. 〈inria-00325448〉

Partager

Métriques

Consultations de la notice

341

Téléchargements de fichiers

233