RECOGNIZING OBJECTS ON THE GROUND-PLANE

被引:16
作者
TAN, TN
SULLIVAN, GD
BAKER, KD
机构
[1] Department of Computer science, University of Reading
关键词
MODEL-BASED VISION; OBJECT RECOGNITION; GROUND-PLANE CONSTRAINT; TRAFFIC SCENE ANALYSIS; GENERALIZED HOUGH TRANSFORM;
D O I
10.1016/0262-8856(94)90068-X
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
Objects such as vehicles are often constrained to lie on a known plane. The ground-plane constraint reduces the problem of localization and recognition from 6 to 3 DOF. A novel algorithm is presented which makes effective use of the ground-plane constraint to derive pose estimates. A form of the generalized Hough transform is used to group evidence from line features, and to identify approximate poses. The single orientation parameter is decoupled from the two location parameters, and dealt with separately. The method is fast and robust. It copes well with complex outdoor scenes including multiple occluded objects, and image clutter from irrelevant structures.
引用
收藏
页码:164 / 172
页数:9
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