Tracking and data association
Stereo Correspondence Through Feature Grouping and Maximal Cliques
IEEE Transactions on Pattern Analysis and Machine Intelligence
Hierarchical stereo and motion correspondence using feature groupings
International Journal of Computer Vision
Matching and clustering: two steps toward automatic object modeling in computer vision
International Journal of Robotics Research
Feature Detection with Automatic Scale Selection
International Journal of Computer Vision
The Earth Mover's Distance as a Metric for Image Retrieval
International Journal of Computer Vision
Nonlinear Control Systems
Digital Image Processing
Empirical evaluation of dissimilarity measures for color and texture
Computer Vision and Image Understanding - Special issue on empirical evaluation of computer vision algorithms
Comparing Images Using the Hausdorff Distance
IEEE Transactions on Pattern Analysis and Machine Intelligence
Measurement and Integration of 3-D Structures By Tracking Edge Lines
ECCV '90 Proceedings of the First European Conference on Computer Vision
ECCV '90 Proceedings of the First European Conference on Computer Vision
An Affine Invariant Interest Point Detector
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part I
Catadioptric Omnidirectional Camera
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Experimental Results got with the Omnidirectional Vision Sensor: Syclop
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Matching Widely Separated Views Based on Affine Invariant Regions
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Constraints for Heterogeneous Sensor Auto-Calibration
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 3 - Volume 03
Structure from Motion with Wide Circular Field of View Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
Simultaneous localization and odometry self calibration for mobile robot
Autonomous Robots
From omnidirectional images to hierarchical localization
Robotics and Autonomous Systems
Similarity searching in image retrieval with statistical distance measures and supervised learning
ICAPR'05 Proceedings of the Third international conference on Advances in Pattern Recognition - Volume Part I
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Hypercatadioptric line images for 3D orientation and image rectification
Robotics and Autonomous Systems
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In this paper we introduce a robust descriptor for matching vertical lines among two or more images from an omnidirectional camera. Furthermore, in order to make such a descriptor usable in the framework of indoor mobile robotics, this paper introduces a new simple strategy to extrinsically self-calibrate the omnidirectional sensor with the odometry reference system. In the first part of this paper we describe how to build the feature descriptor. We show that the descriptor is very distinctive and is invariant to rotation and slight changes in illumination. The robustness of the descriptor is validated through real experiments on a wheeled robot. The second part of the paper is devoted to the extrinsic self-calibration of the camera with the odometry reference system. We show that by implementing an extended Kalman filter that fuses the information from the visual features with the odometry, it is possible to extrinsically and automatically calibrate the camera while the robot is moving. In particular, it is theoretically shown that only one feature suffices to perform the calibration. Experimental results validate the theoretical contributions.