Method of determining a ground plane on the basis of a depth image

摘要

A method of determining a triplet of parameters defining a ground plane based on a depth image includes determining a plurality of triplets of parameters, each defining a ground plane, spatial filtering of the parameters, and temporal filtering of the parameters. The temporal filtering is dependent on an indicator of quality of depth image data available for determination of the ground plane. The temporal filtering is dependent on an indicator of quality of the ground plane determined after spatial filtering. Similarly, the spatial filtering can be parameterized as a function of the two indicators. Globally, the more the estimated plane for a depth image can “explain” the points in this image, the more accurately planes of the subsequent images are determined. For the spatial filtering, the ground plane is searched in a more limited space, and, for the temporal filtering, the previously estimated ground planes considered to a lesser degree.