Mufti, Faisal; Mahony, Robert; Heinzmann, J
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]
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