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Authors: Tobias Schwarze and Martin Lauer

Affiliation: Karlsruhe Institute of Technology, Germany

Keyword(s): Environment Perception, Geometry Estimation, Robust Plane Fitting.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: Geometric context has been recognised as important high-level knowledge towards the goal of scene understanding. In this work we present two approaches to estimate the local geometric structure of urban street canyons captured from a head-mounted stereo camera. A dense disparity estimation is the only input for both approaches. First, we show how the left and right building facade can be obtained by planar segmentation based on random sampling. In a second approach we transform the disparity into an elevation map from which we extract the main building orientation. We evaluate both approaches on a set of challenging inner city scenes and demonstrate how visual odometry can be incorporated to keep track of the estimated geometry.

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Paper citation in several formats:
Schwarze, T. and Lauer, M. (2013). Wall Estimation from Stereo Vision in Urban Street Canyons. In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-71-6; ISSN 2184-2809, SciTePress, pages 83-90. DOI: 10.5220/0004484600830090

@conference{icinco13,
author={Tobias Schwarze. and Martin Lauer.},
title={Wall Estimation from Stereo Vision in Urban Street Canyons},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2013},
pages={83-90},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004484600830090},
isbn={978-989-8565-71-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Wall Estimation from Stereo Vision in Urban Street Canyons
SN - 978-989-8565-71-6
IS - 2184-2809
AU - Schwarze, T.
AU - Lauer, M.
PY - 2013
SP - 83
EP - 90
DO - 10.5220/0004484600830090
PB - SciTePress

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