Ground Plane Estimation, Error Analysis and Applications
Ground plane perception is of vital importance to human mobility. In order
to develop a stereo-based mobility aid for the partially sighted, we model
the ground plane based on disparity and analyze its uncertainty. Because
the mobility aid is to be mounted on a person, the cameras will be moving
around while the person is walking. By calibrating the ground plane at
each frame, we show that a partial pose estimate can be recovered.
Moreover, by keeping track of how the ground plane changes and analyzing
the ground plane, we show that obstacles and curbs are detected. Detailed
error analysis has been carried out as reliability is of utmost importance
for human applications.