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Robust estimation of planar surfaces using spatio-temporal RANSAC for applications in autonomous vehicle navigation

Mufti, Faisal; Mahony, Robert; Heinzmann, Jochen


A fundamental problem in autonomous vehicle navigation is the identification of obstacle free space in cluttered and unstructured environments. Features such as walls, people, furniture, doors and stairs, etc are potential hazards. The approach taken in this paper is motivated by the recent development on infra-red time-of-flight cameras that provide video frame rate low resolution depth maps. We propose to exploit the temporal information content provided by the high refresh rate of such...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Journal article
Source: Robotics and Autonomous Systems
DOI: 10.1016/j.robot.2011.08.009


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