A mapping and localization framework for scalable appearance-based navigation

Computer Vision and Image Understanding

Volumn 113, Issue 2, 2009, Pages 172-187

  Šegvić, Siniša ^a   Remazeilles, Anthony ^a   Diosi, Albert ^a   Chaumette, François ^a  

^a INRIA   (France)

Author keywords

Appearance based navigation; Point transfer; Structure from motion; Visual tracking

Indexed keywords

TIME VARYING SYSTEMS; TOPOLOGY;

APPEARANCE-BASED NAVIGATION; CURRENT IMAGES; ENVIRONMENT REPRESENTATIONS; FUTURE WORKS; HUMAN CONTROLS; HYBRID APPROACHES; IMAGING CONDITIONS; LEARNING SEQUENCES; MOVING CARS; MOVING OBJECTS; NATURAL LANDMARKS; NAVIGATION FUNCTIONALITIES; ON THE FLIES; OUTDOOR ENVIRONMENTS; POINT TRANSFER; ROBOT MOTIONS; STRUCTURE FROM MOTION; VISION SENSORS; VISUAL TRACKING;

NAVIGATION;

EID: 58149168958     PISSN: 10773142     EISSN: 1090235X     Source Type: Journal    
DOI: 10.1016/j.cviu.2008.08.005     Document Type: Article

References (51)

1. DeSouza G.N., and Kak A.C. Vision for mobile robot navigation: a survey. IEEE Transactions on Pattern recognition and Machine Intelligence 24 2 (2002) 237-267
2. D. Cobzas, H. Zhang, M. Jagersand, Image-based localization with depth-enhanced image map, in: Proceedings of the International Conference on Robotics and Automation, Taipeh, Taiwan, 2003, pp. 1570-1575.
3. Vacchetti L., Lepetit V., and Fua P. Stable real-time 3d tracking using online and offline information. IEEE Transactions on Pattern recognition and Machine Intelligence 26 10 (2004) 1385-1391
4. Royer E., Lhuillier M., Dhome M., and Lavest J.-M. Monocular vision for mobile robot localization and autonomous navigation. International Journal of Computer Vision 74 3 (2007) 237-260
5. Davison A.J., Reid I.D., Molton N.D., and Stasse O. MonoSLAM: real-time single camera SLAM. IEEE Transactions on Pattern recognition and Machine Intelligence 26 6 (2007) 1052-1067
6. S. Jones, C. Andersen, J.L. Crowley, Appearance based processes for visual navigation, in: Proceedings of the International Conference on Intelligent Robots and Systems, vol. 2, Grenoble, France, 1997, pp. 551-557.
7. Gaspar J., and Santos-Victor J. Vision-based navigation and environmental representations with an omni-directional camera. IEEE Transactions on Robotics and Automation 16 6 (2000) 890-898
8. Yagi Y., Imai K., Tsuji K., and Yachida M. Iconic memory-based omnidirectional route panorama navigation. IEEE Transactions on Pattern recognition and Machine Intelligence 27 1 (2005) 78-87
9. Z. Chen, S.T. Birchfield, Qualitative vision-based mobile robot navigation, in: Proceedings of the International Conference on Robotics and Automation, Orlando, Florida, 2006, pp. 2686-2692.
10. Goedemé T., Nuttin M., Tuytelaars T., and Gool L.V. Omnidirectional vision based topological navigation. International Journal of Computer Vision 74 3 (2007) 219-236
11. Samson C. Control of chained systems: application to path following and time-varying point stabilization. IEEE Transactions on Automatic Control 40 1 (1995) 64-77
12. D. Burschka, G.D. Hager, Vision-based control of mobile robots, in: Proceedings of the International Conference on Robotics and Automation, Seoul, South Korea, 2001, pp. 1707-1713.
13. S. Šegvić, A. Remazeilles, A. Diosi, F. Chaumette, Large scale vision based navigation without an accurate global reconstruction, in: Proceedings of the Conference on Computer Vision and Pattern Recognition, Minneapolis, Minnesota, 2007, pp. 1-8.
14. A. Diosi, A. Remazeilles, S. Šegvić, F. Chaumette, Experimental evaluation of an urban visual path following framework, in: Proceedings of the IFAC Symposium on Intelligent Autonomous Vehicles, Toulouse, France, 2007, pp. 1-6.
15. Segvić S., Remazeilles A., Diosi A., and Chaumette F. A framework for scalable vision-only navigation. Proceedings of Advanced Concepts for Intelligent Vision Systems (2007), Springer LNCS, Delft, Netherlands 1-12
16. A. Diosi, A. Remazeilles, S. Šegvić, F. Chaumette, Outdoor visual path following experiments, in: Proceedings of the International Conference on Intelligent Robots and Systems, San Diego, California, 2007, pp. 4265-4270.
17. Bosse M., Newman P., Leonard J., and Teller S. Simultaneous localization and map building in large-scale cyclic environments using the ATLAS framework. International Journal of Robotics Research 23 12 (2004) 1113-1139
18. N. Komodakis, G. Pagonis, G. Tziritasy, Interactive walkthroughs using morphable 3d-mosaics, in: Proceedings of the International Symposium on 3D Data Processing, Visualization, and Transmission, Washington, DC, 2004, pp. 404-411.
19. Howard A., Sukhatme G.S., and Matarić M.J. Multi-robot mapping using manifold representations. Proceedings of the IEEE 94 9 (2006) 1360-1369
20. C. Sagüés, A.C. Murillo, J.J. Guerrero, T. Goedemé, T. Tuytelaars, L.V. Gool, Localization with omnidirectional images using the 1d radial trifocal tensor, in: Proceedings of the International Conference on Robotics and Automation, Orlando, USA, 2006, pp. 551-556.
21. Šegvić S., Remazeilles A., and Chaumette F. Enhancing the point feature tracker by adaptive modelling of the feature support. Proceedings of the European Conference on Computer Vision (2006), Springer LNCS, Graz, Austria 112-124
22. Y. Matsumoto, M. Inaba, H. Inoue, Exploration and navigation in corridor environment based on omni-view sequence, in: Proceedings of the International Conference on Intelligent Robots and Systems, Takamatsu, Japan, 2000, pp. 1505-1510.
23. L. Paletta, S. Frintrop, J. Hertzberg, Robust localization using context in omnidirectional imaging, in: Proceedings of the International Conference on Robotics and Automation, Seoul, South Korea, 2001, pp. 2072-2077.
24. J. Košeckà, L. Zhou, P. Barber, Z. Duric, Qualitative image based localization in indoor environments, in: Proceedings of the Conference on Computer Vision and Pattern Recognition, Madison, Wisconsin, 2003, pp. 3-10.
25. A. Argyros, C. Bekris, S. Orphanoudakis, Robot homing based on corner tracking in a sequence of panoramic views, in: Proceedings of the Conference on Computer Vision and Pattern Recognition, Kauai, Hawaii, 2001, pp. 3-10.
26. G.D. Hager, D.J. Kriegman, A.S. Georghiades, O. Ben-Shalar, Toward domain-independent navigation: dynamic vision and control, in: Proceedings of the International Conference on Decision and Control, Tampa, Florida, 1998, pp. 1040-1046.
27. Avidan S., and Shashua A. Novel view synthesis by cascading trilinear tensors. IEEE Transactions on Visualization and Computer Graphics 4 4 (1998) 293-306
28. Hartley R.I., and Zisserman A. Multiple View Geometry in Computer Vision (2004), Cambridge University Press, Cambridge, UK
29. M. Montemerlo, S. Thrun, Simultaneous localization and mapping with unknown data association using FastSLAM, in: Proceedings of the International Conference on Robotics and Automation, Taipei, Taiwan, 2003, pp. 1985-1991.
30. G. Klein, D. Murray, Parallel tracking and mapping for small AR workspaces, in: Proceedings of the International Symposium on Mixed and Augmented Reality, Nara, Japan, 2007, pp. 1-10.
31. A. Remazeilles, F. Chaumette, P. Gros, Robot motion control from a visual memory, in: Proceedings of the International Conference on Robotics and Automation, vol. 4, New Orleans, Louisiana, 2004, pp. 4695-4700.
32. Remazeilles A., and Chaumette F. Image-based robot navigation from an image memory. Robotics and Autonomous Systems 55 4 (2007) 345-356
33. J. Shi, C. Tomasi, Good features to track, in: Proceedings of the Conference on Computer Vision and Pattern Recognition, Seattle, Washington, 1994, pp. 593-600.
34. S.-A. Berrani, L. Amsaleg, P. Gros, Robust content-based image searches for copyright protection, in: Proceedings of the 1st ACM International Workshop on Multimedia Databases MMDB'03, 2003, pp. 70-77.
35. Chaumette F., and Hutchinson S. Visual servo control, part I: basic approaches. IEEE Robotics and Automation magazine 13 4 (2006) 82-90
36. Lowe D.G. Distinctive image features from scale-invariant keypoints. International Journal of Computer Vision 60 2 (2004) 91-110
37. Mikolajczyk K., and Schmid C. Scale and affine invariant interest point detectors. International Journal of Computer Vision 60 1 (2004) 63-86
38. J. Matas, O. Chum, M. Urban, T. Pajdla, Robust wide baseline stereo from maximally stable extremal regions, in: Proceedings of British Machine Vision Conference, vol. 1, 2002, pp. 384-393.
39. H. Jin, P. Favaro, S. Soatto, Real-time feature tracking and outlier rejection with changes in illumination, in: Proceedings of the International Conference on Computer Vision, vol. 1, Vancouver, Canada, 2001, pp. 684-689.
40. D. Nistér, O. Naroditsky, J. Bergen, Visual odometry, in: Proceedings of the Conference on Computer Vision and Pattern Recognition, Washington, DC, 2004, pp. 652-659.
41. Baker S., and Matthews I. Lucas-Kanade 20 years on: a unifying framework. International Journal of Computer Vision 56 3 (2004) 221-255
42. Zhang Z. A flexible new technique for camera calibration. IEEE Transactions on Pattern recognition and Machine Intelligence 22 11 (2000) 1330-1334
43. T. Tamaki, T. Yamamura, N. Ohnishi, Unified approach to image distortion, in: Proceedings of the International Conference on Pattern Recognition, vol. 2, Quebec, Canada, 2002, pp. 584-589.
44. M. Lourakis, A. Argyros, Fast trifocal tensor estimation using virtual parallax, in: Proceedings of the International Conference on Image Processing, Genoa, Italy, 2005, pp. 169-172.
45. Torr P., and Zisserman A. MLESAC: a new robust estimator with application to estimating image geometry. Computer Vision and Image Understanding 78 1 (2000) 138-156
46. Nistér D. An efficient solution to the five-point relative pose problem. IEEE Transactions on Pattern recognition and Machine Intelligence 26 6 (2004) 756-770
47. T. Thormaehlen, H. Broszio, A. Weissenfeld, Keyframe selection for camera motion and structure estimation, in: Proceedings of the European Conference on Computer Vision, Prague, Czech Republic, 2004, pp. 523-535.
48. A.W. Fitzgibbon, A. Zisserman, Automatic camera recovery for closed or open image sequences, in: Proceedings of the European Conference on Computer Vision, 1998, pp. 311-326.
49. Cornelis K., Verbiest F., and Gool L.V. Drift detection and removal for sequential structure from motion algorithms. IEEE Transactions on Pattern recognition and Machine Intelligence 26 10 (2004) 1249-1259
50. S. Šegvić, G. Schweighofer, A. Pinz, Performance evaluation of the five-point relative pose with emphasis on planar scenes, in: Proceedings of the workshop of the Austrian Association for Pattern Recognition, Schloss Krumbach, Austria, 2007, pp. 33-40.
51. S.N. Sinha, J.-M. Frahm, M. Pollefeys, Y. Genc, Feature tracking and matching in video using programmable graphics hardware, Machine Vision and Applications, 2007, accepted for publication, doi:10.1007/s00138-007-0105-z.