Seeing the obvious [robot vision]

We propose an approach to determine the occurrence of low-parametric qualitative models from images by a hypothesis-and-test approach based on the coincidence of multiple cues, thereby avoiding complete reconstruction of the scene. A system is presented which applies the approach to finding instances of planar surfaces, as it is important in many tasks for mobile or manipulating robots. The system uses monocularly determined L-junctions and binocular disparities. A notable feature of the approach is that it finds the most conspicuous exemplar of the model first. This property seems quite relevant for an agent using vision to guide its behaviors, since the simplest solution becomes available early on