Localization with omnidirectional images using the radial trifocal tensor

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 551-556

  Sagues C ^a   Murillo, A C ^a   Guerrero, J J ^a   Goedeme T ^b   Tuytelaars, T ^b   Van Gool, L ^b  

^a UNIVERSITY OF ZARAGOZA   (Spain)

^b UNIVERSITY OF LEUVEN   (Belgium)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER VISION; DATABASE SYSTEMS; MOTION PLANNING; ROBOTICS; TENSORS;

LANDMARKS LOCALIZATION; RADIAL TRIFOCAL TENSORS; ROBOT LOCALIZATION;

IMAGE ANALYSIS;

EID: 33845661154     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1641768     Document Type: Conference Paper

References (15)

1. K. Imai, K. Tsuji, and M. Yachida, "Iconic memory-based omnidirectional route panorama navigation," IEEE Trans. Pattern Anal. Mach. Intell., vol. 27, no. 1, pp. 78-87, 2005.
2. E. Menegatti, A. Pretto, and E. Pagello, "Testing omnidirectional vision-based monte-carlo localization under occlusion," in Proc. of International Conference on Intelligent Robots and Systems, IROS 2004, 2004.
3. P. I. Corke, D. Strelow, and S. Singh, "Omnidirectional visual odometry for a planetary rover," in Proc. of International Conference on Intelligent Robots and Systems, IROS 2004, 2004.
4. J. Gluckman and S. Nayar, "Ego-motion and omnidirectional cameras," in IEEE International Conference on Computer Vision, 1998.
5. C. Geyer and K. Daniilidis, "Structure and motion from uncalibrated catadioptric views," in IEEE International Conference on Computer Vision and Pattern Recognition, 2001.
6. D. Cobzas and H. Zhang, "2d robot localization with image-based panoramic models using vertical line features," in Proc. of Vision Interface, 2000, pp. 211-216.
7. A. Murillo, C. Sagüés, J. Guerrero, T. Goedemé, T. Tuytelaars, and L. V. Gool, "Hierarchical localization by matching vertical lines in omnidirectional images," DUS - I3A Universidad de Zaragoza," Technical report - 2005-V07, 2005.
8. S. Thirthala and M. Pollefeys, "The radial trifocal tensor: A tool for calibrating the radial distortion of wide-angle cameras," in Proc. of Computer Vision Pattern Recognition, 2005.
9. K. Åström and M. Oskarsson, "Solutions and ambiguities of the structure and motion problem for Id retinal vision," Journal of Mathematical Imaging and Vision, vol. 12, pp. 121-135, 2000.
10. F. Dellaert and A. Stroupe, "Linear 2d localization and mapping for single and multiple robots," in Proceedings of the IEEE International Conference on Robotics and Automation. IEEE, May 2002.
11. O. Faugeras, L. Quan, and P. Sturm, "Self-calibration of a Id projective camera and its application to the self-calibration of a 2d projective camera," IEEE Trans. on Pattern Analysis and Machine Intelligence, vol. 22, no. 10, pp. 1179-1185, 2000.
12. J. Guerrero, C. Sagüés, and A. Murillo, "Localization and bearing-only matching using the planar trifocal tensor," DUS - I3A Universidad de Zaragoza," Technical report - 2005-V06, 2005.
13. P. Rousseeuw and A. Leroy, Robust Regression and Outlier Detection. New York: John Wiley, 1987.
14. J. Guerrero and C. Sagüés, "Robust line matching and estimate of homographies simultaneously," in IbPRIA, Pattern Recognition and Image Analysis, LNCS 2652, 2003, pp. 297-307.
15. A. Shashua and M. Werman, "Trilinearity of three perspective views and its associate tensor," in In Proceedings of the International Conference on Computer Vision (ICCV), June 1995, pp. 920-925.