A method for controlling an agent to navigate through an environment includes generating a depth map associated with a monocular image of the environment. The method also includes generating a group of surface normal. Each surface normal of the group of surface normals is associated with a respective polygon of a group of polygons associated with the depth map. The method further includes identifying one or more ground planes in the depth map based on the group of surface normal. The method further includes controlling the agent to navigate through the environment based on identifying the one or more ground planes.
SYSTEM AND METHOD FOR SELF-SUPERVISED MONOCULAR GROUND-PLANE EXTRACTION
2023-10-12
Patent
Electronic Resource
English
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
System and method for self-supervised monocular ground-plane extraction
European Patent Office | 2023
|SYSTEM AND METHOD FOR SELF-SUPERVISED MONOCULAR GROUND-PLANE EXTRACTION
European Patent Office | 2021
|SELF-SUPERVISED 3D KEYPOINT LEARNING FOR MONOCULAR VISUAL ODOMETRY
European Patent Office | 2021
|A Self-Navigation Method with Monocular Plane Discovery
IEEE | 2017
|