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Accurate 3D ground plane estimation from a single image

A. Cherian, V. Morellas, N. Papanikolopoulos
2009 2009 IEEE International Conference on Robotics and Automation  
The ground plane from the given image is accurately estimated and this precedes segmentation of the image into ground and vertical regions.  ...  In this work, we propose algorithms to accurately estimate the 3D location of the landmarks from the robot only from a single image taken from its on board camera.  ...  GROUND PLANE ESTIMATION A. 3D depth map construction Humans seldom have any difficulty in inferring the 3D structure of the scene from a single image.  ... 
doi:10.1109/robot.2009.5152260 dblp:conf/icra/CherianMP09 fatcat:6rjhxaa2lrbkxjom4je4b6n5ui

Cast Shadow Resistant Ground Plane Detection in Single Image

Xiaoyan Xu, Xiaoming Liu, Chang Liu, Yuan Ling
2017 International Journal of Hybrid Information Technology  
In this paper, we present a cast shadow resistant ground plane detection approach from a single color image. We first derive an initial ground plane using geometric layout method.  ...  The final shadow resistant ground plane result is obtained by employing region growth on the initial seed region in the shadow-free intrinsic image.  ...  In [2] , a purely vision-based method using a single on-board camera is proposed to estimate the ground plane.  ... 
doi:10.14257/ijhit.2017.10.8.09 fatcat:7fue3pb6j5gdzpafz247myvwqq

Light source estimation using feature points from specular highlights and cast shadows
English

Bunteong Anusorn, Chotikakamthorn Nopporn
2016 International Journal of Physical Sciences  
Information on diffused light reflected from Lambertian ground-plane surface is subsequently used to improve estimation accuracy.  ...  Then, a discontinuity point in the object shape and the corresponding cast shadow on a ground plane are used for light source position estimation.  ...  on a ground plane.  ... 
doi:10.5897/ijps2015.4274 fatcat:dxjkh6c5kzdhblhfrss2isediu

GroundNet: Monocular Ground Plane Normal Estimation with Geometric Consistency [article]

Yunze Man, Xinshuo Weng, Xi Li, Kris Kitani
2019 arXiv   pre-print
We focus on estimating the 3D orientation of the ground plane from a single image.  ...  We formulate the problem as an inter-mingled multi-task prediction problem by jointly optimizing for pixel-wise surface normal direction, ground plane segmentation, and depth estimates.  ...  When only a single image is available, parallel lines detected on the ground plane can be used to estimate vanishing points and the horizon line [15] .  ... 
arXiv:1811.07222v4 fatcat:hq4jqfoqbzgyvpxhhcpa7dxcmu

Learning multi-planar scene models in multi-camera videos

Fei Yin, Tim Ellis, Sergio A. Velastin, Dimitrios Makris
2015 IET Computer Vision  
It segments the image into separate plane regions, estimating the relative depth and altitude for each image pixel, building a 3D reconstruction of the scene.  ...  This paper proposes a novel method to learn the geometry of a scene containing more than a single ground plane by tracking pedestrians and combining information from multiple views.  ...  Compared with methods that assume a single ground plane model, if we took the flat ground area (not considering the stairs and overpass separately) as the "single ground plane", the homography mapping  ... 
doi:10.1049/iet-cvi.2013.0261 fatcat:65pfilnd3rhkzb77podgn5g2am

Multiple ground plane estimation for 3D scene understanding using a monocular camera

Sangdoo Yun, Soo Wan Kim, Kwang Moo Yi, Haan-ju Yoo, Jin Young Choi
2012 Proceedings of the 27th Conference on Image and Vision Computing New Zealand - IVCNZ '12  
Traditional methods for estimating ground plane are restricted to a scene with single ground plane.  ...  With single image, the authors in [9, 3, 4] understand 3D scene by extracting vanishing points from edges and corners in the image.  ... 
doi:10.1145/2425836.2425838 dblp:conf/ivcnz/YunKYYC12 fatcat:wt3hmnsws5cl5g7houlroifg6e

Airborne Optical Sectioning

Indrajit Kurmi, David Schedl, Oliver Bimber
2018 Journal of Imaging  
Shifting focus computationally towards the ground allows optical slicing through dense occluder structures (such as leaves, tree branches, and coniferous trees), and discovery and inspection of concealed  ...  AOS samples the optical signal of wide synthetic apertures (30–100 m diameter) with unstructured video images recorded from a low-cost camera drone to support optical sectioning by image integration.  ...  Furthermore, the fact that recorded images spatially overlap in the focal plane suggests that the actual spatial sampling resolution is higher than for a single image (as estimated in Appendix A).  ... 
doi:10.3390/jimaging4080102 fatcat:b6cjownctzeh3gr3y4cu4mdefu

VISUAL ODOMETRY OF A MOBILE PALETTE ROBOT USING GROUND PLANE IMAGE FROM A FISHEYE CAMERA

U.-G. Lee, S.-Y. Park
2022 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
And we create the Ground Plane Image, a virtual image that vertically looks at the ground from a cube map image.  ...  Thus, if we know the actual scale of the motion vector, we can estimate the mobile robot's velocity and steering angle on the virtual wheel generated by the ground plane image.  ...  Thus, if we know the real scale of the motion vector, we can estimate the actual motion of the robot in the Ground Plane Image.  ... 
doi:10.5194/isprs-archives-xliii-b1-2022-431-2022 fatcat:si6ocnyi6ndlrptkwa7xkzo5ge

UAV altitude estimation by mixed stereoscopic vision

D Eynard, P Vasseur, C Demonceaux, V Frémont
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Contrary to classical stereoscopic systems based on feature matching, we propose a plane sweeping approach in order to estimate the altitude and consequently to detect the ground plane.  ...  We show that this approach is robust and accurate, and a CPU implementation allows a real time estimation.  ...  For an image composed of a dominant ground plane and walls, ground plane is segmented as inliers while walls are segmented as outliers.  ... 
doi:10.1109/iros.2010.5652254 dblp:conf/iros/EynardVDF10 fatcat:wimnqlekqzd7jgki2jlhd3qldi

Single Image Human Proxemics Estimation for Visual Social Distancing [article]

Maya Aghaei, Matteo Bustreo, Yiming Wang, Gianluca Bailo, Pietro Morerio, Alessio Del Bue
2020 arXiv   pre-print
Our approach proposes a semi-automatic solution to approximate the homography matrix between the scene ground and image plane.  ...  In this work, we address the problem of estimating the so-called "Social Distancing" given a single uncalibrated image in unconstrained scenarios.  ...  Homography Estimation In this section, we cover the approach to estimate the homography matrix of any given image plane to the ground plane.  ... 
arXiv:2011.02018v2 fatcat:p5rkbjxryjg2dfze2tyg4zvzfm

Stair detection and tracking from egocentric stereo vision

Tobias Schwarze, Zhichao Zhong
2015 2015 IEEE International Conference on Image Processing (ICIP)  
Afterwards we propose to use a sweep plane approach to efficiently measure the position of single treads relative to the ground plane.  ...  In this situation we propagate the last valid ground plane measurement to the local frame using the estimated egopose, but since this estimation is subject to drift, also the ground plane becomes inaccurate  ... 
doi:10.1109/icip.2015.7351291 dblp:conf/icip/SchwarzeZ15 fatcat:gju33gyosbhupgnued62nd5teq

Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments [article]

Shichao Yang, Yu Song, Michael Kaess, Sebastian Scherer
2017 arXiv   pre-print
The plane measurements come from a pop-up 3D plane model applied to each single image. We also combine planes with point based SLAM to improve robustness.  ...  Though some work utilize plane or scene layout for dense map regularization, they require decent state estimation from other sources.  ...  We first extend previous work to pop up a 3D plane world from a single image by detecting the ground-wall edges and estimating camera rotation.  ... 
arXiv:1703.07334v1 fatcat:77r4ckshljczjj4kwgffdjmyk4

Analysis of Vanishing Curves and Points of Planar Objects from Single Panoramic Image

Hyun-deok Kang, Kang-hyun Jo
2006 2006 International Forum on Strategic Technology  
Horizontal line with ground plane projected as the curve on the basis of each vanishing point in image; the parallel lines with ground are projected as the curve in panoramic image.  ...  Second, it is able to obtain the parallel plane in focal point of mirror using the already known the height of mirror from the ground.  ...  THE ESTIMATION OF TRAJECTORY OF FEATURES AND VANISHING POINTS For 3D localization of features, it must to know the intersection points which located in ground plane and vertical line segments in wall  ... 
doi:10.1109/ifost.2006.312312 fatcat:uwm25kfthfcrfb2fzmzkfxhmvi

Pop-up SLAM: Semantic monocular plane SLAM for low-texture environments

Shichao Yang, Yu Song, Michael Kaess, Sebastian Scherer
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
The plane measurements come from a pop-up 3D plane model applied to each single image. We also combine planes with point based SLAM to improve robustness.  ...  Though some work utilize plane or scene layout for dense map regularization, they require decent state estimation from other sources.  ...  We first extend previous work to pop up a 3D plane world from a single image by detecting the ground-wall edges and estimating camera rotation.  ... 
doi:10.1109/iros.2016.7759204 dblp:conf/iros/YangSKS16 fatcat:6eqwp4nnmfdtfchyeafy3dv2xq

Detecting planes and estimating their orientation from a single image

Osian Haines, Andrew Calway
2012 Procedings of the British Machine Vision Conference 2012  
We propose an algorithm to detect planes in a single image of an outdoor urban scene, capable of identifying multiple distinct planes, and estimating their orientation.  ...  Plane detection is achieved by classifying multiple overlapping image regions, in order to obtain an initial estimate of planarity for a set of points, which are segmented into planar and non-planar regions  ...  Conclusions We have presented a new algorithm to detect planes, and estimate their 3D orientation, from a single image.  ... 
doi:10.5244/c.26.31 dblp:conf/bmvc/HainesC12 fatcat:dpbuhir5ivavvc7wcsmfufjswu
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