Ground plane detection using visual and inertial data fusion

Jorge Lobo, Jorge Dias

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

In mobile systems the position and attitude of the active vision system's cameras can be hard to determine. Inertial sensors coupled to the active vision system can provide valuable information, as happens with the vestibular system in human and other animals. In this article, we present our integrated inertial and vision systems. The active vision system has a set of stereo cameras capable of vergence, with a common baseline, pan and tilt, and an implemented process of visual fixation. An inertial system prototype, based on low-cost sensors, was built. The inertial sensor data is used to segment the ground plane in the images. For on-the-fly visualisation of the segmented images and the detected ground points a VRML viewer is used.

Original languageBritish English
Title of host publicationProceedings of the IEEE International Conference on Electronics, Circuits, and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages479-482
Number of pages4
ISBN (Electronic)0780350081
DOIs
StatePublished - 1998
Event5th IEEE International Conference on Electronics, Circuits and Systems, ICECS 1998 - Lisboa, Portugal
Duration: 7 Sep 199810 Sep 1998

Publication series

NameProceedings of the IEEE International Conference on Electronics, Circuits, and Systems
Volume2

Conference

Conference5th IEEE International Conference on Electronics, Circuits and Systems, ICECS 1998
Country/TerritoryPortugal
CityLisboa
Period7/09/9810/09/98

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