World model representation based on planar patch from range and video images

Presents an approach to build a world model representation based on planar surfaces from range and video images. The method consists of three sub-processes: (1) to extract the primal surface patches from range and video images; (2) to define the directional uncertainty for the extracted surface patch; and (3) to match the model surfaces of the object expected in the scene with the extracted surface patches using the defined directional uncertainty, model constraints, and a certainty measure of matching, which is defined by directional uncertainty. The preliminary results applied to road scenes are shown