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Ground Plane Detection Using Kinect Sensor
 

Ground Plane Detection Using Kinect Sensor

 

Ground Plane Detection Using Kinect Sensor -DS7 Results

Data set recorded in our lab with changing roll & pitch angle. Kinect placed on a platform with shock absorbers. By pressing the platform roll & pitch angles were altered, imitating the movements that can occur in a robotic platform.top-left: RGB image
top-right: Depth map from Microsoft Kinect
bottom-left: First proposed method output, black represents ground pixels
bottom-right: Second proposed method output, black represents ground pixels

 

 



Ground Plane Detection Using Kinect Sensor -DS9 Results

Data set recorded in our lab using an autonomous car (Video of the car: http://www.youtube.com/watch?v=PzpV2p…)
top-left: RGB image
top-right: Depth map from Microsoft Kinect
bottom-left: First proposed method output, black represents ground pixels
bottom-right: Second proposed method output, black represents ground pixels

 

 

 



Ground Plane Detection Using Kinect Sensor -DS11 Results

Data set recorded in our lab using an autonomous car & ground truth (manually marked) (Video of the car: http://www.youtube.com/watch?v=PzpV2pjdH20)
top-left: RGB image
top-right: Depth map from Microsoft Kinect
bottom-left: Second proposed method output, black represents ground pixels
bottom-right: Ground truth (manually marked), black represents ground pixels

 

 



Ground Plane Detection Using Kinect Sensor -DS12 Results

Data set recorded in our lab using an autonomous car & ground truth (manually marked) (Video of the car: http://www.youtube.com/watch?v=PzpV2pjdH20)
top-left: RGB image
top-right: Depth map from Microsoft Kinect
bottom-left: Second proposed method output, black represents ground pixels
bottom-right: Ground truth (manually marked), black represents ground pixels