On February 27 Izaak Van Crombrugge will present his paper "Fast Free Floor Detection for Range Cameras" at the VISAPP conference in Porto. (VISAPP is the International Conference on Computer Vision Theory and Applications.)
A robust and fast free floor detection algorithm is indispensable in autonomous or assisted navigation as it labels the drivable surface and marks obstacles. We present simple and fast method to segment the free floor surface in depth camera images. This method is accurate for planar motion, i.e. as long as the camera stays at a fixed height and angle above the ground plane. This is most often the case in driving mobile platforms in an indoor environment. Obstacles as low as 40mm are reliably detected. The detection works correct even when ’multipath’ errors are present, a typical phenomenon of distance overestimation in corners when using time-of-flight range cameras. To demonstrate the application of our segmentation method, we implemented it to create a simple but accurate navigation map.
To see the floor detection in action in a video, follow this link: https://www.youtube.com/watch?v=BR4GUVntWKA