Multiple view geometry in computer vision
Multiple view geometry in computer vision
Estimation of Relative Camera Positions for Uncalibrated Cameras
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Omnidirectional Vision Based Topological Navigation
International Journal of Computer Vision
Heuristic-based laser scan matching for outdoor 6d SLAM
KI'05 Proceedings of the 28th annual German conference on Advances in Artificial Intelligence
Bypass methods for constructing robust automatic human tracking system
Integrated Computer-Aided Engineering
A low-cost 3D human interface device using GPU-based optical flow algorithms
Integrated Computer-Aided Engineering
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We propose a method for computing the absolute distances to static obstacles using a single omnidirectional camera. The method is applied to mobile robots. We achieve this without restricting the application to predetermined translations or the use of artificial markers. In contrast to prior work, our method is able to build absolute scale 3D without the need of a known baseline length, traditionally acquired by odometry. Instead we use the ground plane assumption together with the camera system's height to determine the scale factor. Using only one omnidirectional camera our method is cheaper, more informative and more compact than the traditional methods for distance determination, especially when a robot is already equipped with a camera for e.g. navigation. It also provides more information since it determines distances in a 3D space instead of in one plane. The experiments show promising results. The algorithm is indeed capable of determining the distances in meters to features and obstacles and is able to locate all major obstacles in the scene.