Omnidirectional 3D reconstruction in augmented Manhattan worlds

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2014, Pages 716-723

  Schönbein, Miriam ^a   Geiger, Andreas ^b  

^a KARLSRUHE INSTITUTE OF TECHNOLOGY   (Germany)

^b MAX PLANCK INSTITUTE FOR INTELLIGENT SYSTEMS   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; IMAGE SEGMENTATION; INTELLIGENT ROBOTS; MARKOV PROCESSES; STEREO IMAGE PROCESSING; THREE DIMENSIONAL COMPUTER GRAPHICS;

3D RECONSTRUCTION; AUTONOMOUS DRIVING; CATADIOPTRIC CAMERAS; CATADIOPTRIC STEREO; DEPTH MEASUREMENTS; MANHATTAN WORLDS; MARKOV RANDOM FIELD MODEL; PERSPECTIVE VIEWS;

IMAGE RECONSTRUCTION;

EID: 84911468015     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2014.6942637     Document Type: Conference Paper

References (43)

1. A. Geiger, M. Lauer, F. Moosmann, B. Ranft, H. Rapp, C. Stiller, and J. Ziegler, "Team annieway's entry to the grand cooperative driving challenge 2011," TITS, 2012.
2. M. Buehler, K. Iagnemma, and S. Singh, Eds., The DARPA Urban Challenge, ser. Advanced Robotics, vol. 56, 2009.
3. S. Baker and S. K. Nayar, "A theory of single-viewpoint catadioptric image formation," IJCV, 1999.
4. C. Geyer and K. Daniilidis, "A unifying theory for central panoramic systems and practical implications," in ECCV, 2000.
5. G. Schindler and F. Dellaert, "Atlanta world: An expectation maximization framework for simultaneous low-level edge grouping and camera calibration in complex man-made environments," in CVPR, 2004.
6. Y. Furukawa, B. Curless, S. M. Seitz, and R. Szeliski, "Manhattanworld stereo," in CVPR, 2009.
7. -, "Reconstructing building interiors from images," in ICCV, 2009.
8. A. Schwing and R. Urtasun, "Efficient exact inference for 3d indoor scene understanding," in ECCV, 2012.
9. B. Zeisl, C. Zach, and M. Pollefeys, "Stereo reconstruction of building interiors with a vertical structure prior," in THREEDIMPVT, 2011.
10. K. Yamaguchi, D. McAllester, and R. Urtasun, "Robust monocular epipolar flow estimation," CVPR, 2013.
11. B. Mičušík and J. Košecká, "Multi-view superpixel stereo in urban environments," IJCV, 2010.
12. H. Hirschmüller, "Stereo processing by semiglobal matching and mutual information," PAMI, 2008.
13. A. Geiger, P. Lenz, and R. Urtasun, "Are we ready for autonomous driving? the kitti vision benchmark suite," in CVPR, 2012.
14. A. Geiger, M. Lauer, C. Wojek, C. Stiller, and R. Urtasun, "3d traffic scene understanding from movable platforms," PAMI, 2014.
15. D. Scaramuzza and A. Martinelli, "A toolbox for easily calibrating omnidirectional cameras," in IROS, 2006.
16. C. Mei and P. Rives, "Single view point omnidirectional camera calibration from planar grids," in ICRA, 2007.
17. L. Puig, J. Bermudez, P. Sturm, and J. J. Guerrero, "Calibration of omnidirectional cameras in practice: A comparison of methods," CVIU, 2012.
18. M. Schönbein, T. Strauss, and A. Geiger, "Calibrating and centering quasi-central catadioptric cameras," in ICRA, 2014.
19. A. Murillo, J. Guerrero, and C. Sagues, "Surf features for efficient robot localization with omnidirectional images," in ICRA, 2007.
20. C. Valgren and A. J. Lilienthal, "Sift, surf and seasons: Long-term outdoor localization using local features." in EMCR, 2007.
21. A. Pagani and D. Stricker, "Structure from motion using full spherical panoramic cameras," in ICCV Workshops, 2011.
22. J.-P. Tardif, Y. Pavlidis, and K. Daniilidis, "Monocular visual odometry in urban environments using an omnidirectional camera," in IROS, 2008.
23. A. Rituerto, L. Puig, and J. J. Guerrero, "Visual slam with an omnidirectional camera," in ICPR, 2010.
24. T. Svoboda and T. Pajdla, "Epipolar geometry for central catadioptric cameras," IJCV, 2002.
25. J. Gluckman, S. K. Nayar, and K. J. Thoresz, "Real-time omnidirectional and panoramic stereo," in In DARPA Image Understanding Workshop, 1998.
26. S. Yi and N. Ahuja, "An omnidirectional stereo vision system using a single camera," in ICPR, 2006.
27. R. Bunschoten, B. J. A. Krse, and N. A. Vlassis, "Robust scene reconstruction from an omnidirectional vision system." IEEE T. Robotics and Automation, vol. 19, no. 2, pp. 351-357, 2003.
28. J.-J. Gonzalez-Barbosa and S. Lacroix, "Fast dense panoramic stereovision." in ICRA, 2005.
29. S. B. Kang and R. Szeliski, "3-d scene data recovery using omnidirectional multibaseline stereo," IJCV, 1995.
30. S. Fleck, F. Busch, P. Biber, W. Strasser, and H. Andreasson, "Omnidirectional 3d modeling on a mobile robot using graph cuts," in ICRA, 2005.
31. C. G. Kostas and K. Daniilidis, "Conformal rectification of omnidirectional stereo pairs," in Omnivis, 2003.
32. J. Fujiki, A. Torii, and S. Akaho, "Epipolar geometry via rectification of spherical images," in Computer Vision/Computer Graphics Collaboration Techniques, 2007.
33. S. Li, "Real-time spherical stereo," in ICPR, 2006.
34. Z. Arican and P. Frossard, "Dense disparity estimation from omnidirectional images." in AVSS, 2007.
35. M. Lhuillier, "Toward flexible 3d modeling using a catadioptric camera," in CVPR, 2007.
36. S. Yu and M. Lhuillier, "Surface reconstruction of scenes using a catadioptric camera," in Computer Vision/Computer Graphics Collaboration Techniques, 2011.
37. M. Schönbein, H. Rapp, and M. Lauer, "Panoramic 3d reconstruction with three catadioptric cameras," in IAS, 2013.
38. E. Rosten and T. Drummond, "Machine learning for high-speed corner detection." Springer Berlin Heidelberg, 2006, pp. 430-443.
39. M. Calonder, V. Lepetit, M. Ozuysal, T. Trzcinski, C. Strecha, and P. Fua, "Brief: Computing a local binary descriptor very fast," PAMI, 2012.
40. A. Geiger, J. Ziegler, and C. Stiller, "StereoScan: Dense 3d reconstruction in real-time," in IV, 2011.
41. A. Neubeck and L. V. Gool, "Efficient non-maximum suppression," in ICPR, 2006.
42. T. Hazan and R. Urtasun, "A primal-dual message-passing algorithm for approximated large scale structured prediction," in NIPS, 2010.
43. H. L. Jasper Snoek and R. P. Adams, "Practical bayesian optimization of machine learning algorithms," in NIPS, 2012.