Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Real-Time Localisation and Mapping with Wearable Active Vision
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Robotics and Autonomous Systems
Singularity and kinematics analysis for a class of PPUU mobile parallel robots
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
The visual SLAM system for a hexapod robot
ICCVG'10 Proceedings of the 2010 international conference on Computer vision and graphics: Part II
Sub-sampling: Real-time vision for micro air vehicles
Robotics and Autonomous Systems
An accurate and robust visual-compass algorithm for robot-mounted omnidirectional cameras
Robotics and Autonomous Systems
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Localization is one of the most important basic skills of a mobile robot. Most approaches, however, still rely either on special sensors or require artificial environments. In this article, a novel approach is presented that can provide compass information for localization, purely based on the visual appearance of a room. A robot using such a visual compass can quickly learn a cylindrical map of the environment, consisting of simple statistical features that can be computed very quickly. The visual compass algorithm is efficient, scalable and can therefore be used in real-time on almost any contemporary robotic platform. Extensive experiments on a Sony Aibo robot have validated that the approach works in a vast variety of environments.