Plane Detection Using Affine Homography

Abstract

Planes are important geometric features and can be used in a wide range of applications like robot navigation. This work aims to illustrate a homography-based method to detect planes using the affine model. Using two image frames from a monocular sequence, a set of match pairs of points is obtained using Harris corner detector combined with the Scale Invariant Feature Transform (SIFT) as local descriptor. An algorithm was developed to cluster interest points belonging to the same plane. Tests are performed in different sequences of outdoor images and results are shown.