3-D localization and mapping using a single camera based on structure-from-motion with automatic baseline selection

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 3342-3347

  Tomono, Masahiro ^a  

^a JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

Author keywords

3 D maps; Mobile robots; SLAM; Structure from motion

Indexed keywords

3D SPARSE MAPS; CAMERA TRAJECTORY; STRUCTURE FROM MOTION; THREE DIMENSIONAL (3D) MAPS;

CONFORMAL MAPPING; DISTANCE MEASUREMENT; IMAGE ANALYSIS; MOTION PLANNING; PROBLEM SOLVING; THREE DIMENSIONAL COMPUTER GRAPHICS;

IMAGING SYSTEMS;

EID: 33846181660     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570626     Document Type: Conference Paper

References (23)

1. A. J. Davison, Y. G. Cid, and N. Kita: "Real-time 3D SLAM with Wide-angle Vision," Proc. of IFAC Symposium On Intelligent Autonomous Vehicle, 2004.
2. M. Fischler and R. Bolles: "Random Sample Consensus: a Paradigm for Model Fitting with Application to Image Analysis and Automated Cartography", Communications ACM, 24:381-395, 1981.
3. A. W. Fitzgibbon and A. Zisserman: "Automatic Camera Recovery for Closed or Open Image Sequences," Proc. of ECCV'98, 1998.
4. M. A. Garcia and A. Solanas: "3D Simultaneous Localization and Modeling from Stereo Vision," Proc. of ICRA2004, 2004.
5. D. Hahnel, W. Burgard, D. Fox, and S. Thrun: "An Efficient FastSLAM Algorithm for Generating Maps of Large-Scale Cyclic Environments from Raw Laser Range Measurements," Proc. of IROS2003, pp. 206-211, 2003.
6. R. Hartley: "In defense of the eight-point algorithm," IEEE Trans. PAMI, Vol. 19, No. 6, pp. 580-593, 1997.
7. R. Hartley and A. Zisserman: "Multiple View Geometry in Computer Vision," Cambridge University Press, 2000.
8. L. Iocchi and K. Konolige: "Visually Realistic Mapping of a Planar Environment with Stereo," Proc. ISER2000, 2000.
9. K. Kanatani: "Statistical Optimization for Geometric Computation: Theory and Practice," Elsevier, Amsterdam, 1996.
10. J. J. Leonard and H. F. Durrant-Whyte: "Simultaneous Map Building and Localization for an Autonomous Mobile Robot," Proc. of IROS'91, pp. 1442-1447, 1991.
11. M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit: "FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem," Proc of AAAI 2002, 2002.
12. D. Nistér: "Reconstruction from Uncalibrated Sequences with a Hierarchy of Trifocal Tensors," Proc. of ECCV2000, pp.649-663, 2000.
13. D. Nistér, O. Naroditsky, and J. Bergen: "Visual Odometry," Proc. of CVPR2004, 2004.
14. J. M. Sáez and F. Escolano: "A Global 3D Map-Building Approach Using Stereo Vision," Proc. of ICRA2004, 2004.
15. S. Se, D. Lowe, and J. Little: "Vision-based Mobile Robot Localization And Mapping using Scale-Invariant Features," Proc. of ICRA2001, 2001.
16. J. Shi and C. Tomasi: "Good Features to Track," Proc. of CVPR'94, pp. 593-600, 1994.
17. S. Thrun: " Robotic Mapping: A Survey," CMU-CS-02-111, Feb. 2002.
18. S. Thrun, et.al.: "A System for Volumetric Robotic Mapping of Abandoned Mines," Proc. of ICRA2003, 2003.
19. C. Tomasi and T. Kanade: "Shape and Motion from Image Streams under Orthography: A Factorization Approach," Int. J. of Computer Vision, 9(2): 137-154.
20. M. Tomono: "A Scan Matching Method using Euclidean Invariant Signature for Global Localization and Map Building," Proc. of ICRA2004, 2004.
21. P. H. S. Torr, A. W. Fitzgibbon, and A. Zisserman: "The Problem of Degeneracy in Structure and Motion Recovery from Uncalibrated Image Sequences," Int. J. of Computer Vision, 32(1), 27-44, 1999.
22. K. Yamazaki, M. Tomono, T. Tsubouchi, and S. Yuta: "3-D Object Modeling by a Camera Equipped on a Mobile Robot," Proc. of the IEEE International Conference on Robotics and Automation Proc. of ICRA2004, 2004.
23. Y. Ma, S. Soatto, J. Kosecka, and S. S. Sastry: "An Invitation to 3-D Vision From Images to Geometric Models," Springer, 2003.