Spatio-Temporal RANSAC for Robust Estimation of Ground Plane in Video Range Images for Automotive Applications
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Mufti, Faisal; Mahony, Robert; Heinzmann, J
Description
This paper considers the problem of ground plane estimation in range image data obtained from Time-of-Flight camera. We extend the 3D spatial RANSAC for ground plane estimation to 4D spatio-temporal RANSAC by incorporating a time axis. Ground plane models are derived from spatio- temporal random data points, thereby robustifying the algorithm against short term temporal effects such as passing cars, pedestrians, etc. The computationally fast and robust estimation of ground plane leads to...[Show more]
Collections | ANU Research Publications |
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Date published: | 2008 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/23800 |
Source: | Proceedings of IEEE International Conference on Intelligent Transportation Systems (ITSC 2008) |
DOI: | 10.1109/ITSC.2008.4732645 |
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File | Description | Size | Format | Image |
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01_Mufti_Spatio-Temporal_RANSAC_for_2008.pdf | 1.45 MB | Adobe PDF | Request a copy |
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