article
Plane Detection Using Affine Homography
Fecha
2008Registro en:
AIRES, Kelson R. T.; ARAÚJO, Hélder de J.; MEDEIROS, Adelardo A. D. (2008)
Autor
Aires, Kelson R. T.
Araújo, Hélder J.
Medeiros, Adelardo Adelino Dantas de
Resumen
Planes are important geometric features and can be used in a wide range of applications like robot
navigation. This work aims to illustrate a homography-based method to detect planes using the affine model.
Using two image frames from a monocular sequence, a set of match pairs of points is obtained using Harris
corner detector combined with the Scale Invariant Feature Transform (SIFT) as local descriptor. An algorithm
was developed to cluster interest points belonging to the same plane. Tests are performed in different sequences
of outdoor images and results are shown.