Geometric reasoning for world model representation based on planar patch with uncertainty from video range images

An approach to geometrical reasoning for world model representations that are based on planar surfaces from range and video images is described. The geometrical reasoning is regarded as an inferring process of the spatial extent of primal surfaces derived from the range image at an early stage. The inferring process has two subprocesses: expansion of a primal surface using a directional uncertainty defined by the moments around the axes on the plane fitted to it, and the determination of the boundary shape of the expanded surface using constraints on the spatial relationships between the observed data. Experimental results that were applied to road scenes in which the inferring process proved useful for the integration process of video and range image sequences are discussed