Identifying Planar Regions in a Scene using Uncalibrated Stereo Vision

Abstract

We describe the use of well-known uncalibrated stereo algorithms for detecting planar regions in a scene from the transformation of feature locations between views. Simulations indicate that a typical set-up would have a resolution of the order of one centimetre. A fully operational system is not yet complete, but here we present a number of steps towards achieving this goal. Keywords: uncalibrated stereo vision, segmentation, planar. 1 Introduction We are developing a system which combines stereoscopic vision with a robotic manipulator to enable it to locate, reach and grasp unmodelled objects in an unstructured environment. Part of the system has been built. The algorithm for indicating the object of interest is described in [2] and the algorithm for visually guiding the robot arm to the object is described in [6]. Both these algorithms use uncalibrated stereo vision. The advantages of using uncalibrated stereo are that it is easier to set up, more robust to disturbances of t...