STATISTICAL ASPECTS OF DOMINANT PLANE FOR ROBOT NAVIGATION

The dominant plane is the planar area in the robot workspace corresponding to the largest part of an image or at least half of an image. We present an algorithm for detecting the dominant plane from viewpoint of computational cognitive neuroscience using Independent Component Analysis. Then, using geometrical properties of the dominant plane, we derive a spatial reasoning method for mobile robot navigation. While traditional methods for mobile robot navigation tend to detect obstacles in the environment using various sensors, our method detects the dominant plane as a feasible region for navigation.