The Development and Comparison of Robust Methodsfor Estimating the Fundamental Matrix
International Journal of Computer Vision
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Scale-Space Theory in Computer Vision
Scale-Space Theory in Computer Vision
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Pattern Classification (2nd Edition)
Pattern Classification (2nd Edition)
Lucas-Kanade 20 Years On: A Unifying Framework
International Journal of Computer Vision
SoftPOSIT: Simultaneous Pose and Correspondence Determination
International Journal of Computer Vision
Scale & Affine Invariant Interest Point Detectors
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Localization in Urban Environments: Monocular Vision Compared to a Differential GPS Sensor
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Guided-MLESAC: Faster Image Transform Estimation by Using Matching Priors
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
Discovering Objects and their Localization in Images
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1 - Volume 01
Highly Accurate Optic Flow Computation with Theoretically Justified Warping
International Journal of Computer Vision
Real Time Localization and 3D Reconstruction
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Segmenting, Modeling, and Matching Video Clips Containing Multiple Moving Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Simultaneous plane extraction and 2D homography estimation using local feature transformations
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part II
Nonparametric estimation of multiple structures with outliers
WDV'05/WDV'06/ICCV'05/ECCV'06 Proceedings of the 2005/2006 international conference on Dynamical vision
Vision-based global localization and mapping for mobile robots
IEEE Transactions on Robotics
A survey of motion-parallax-based 3-D reconstruction algorithms
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
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Robust feature tracking is a requirement for many computer vision tasks such as indoor robot navigation. However, indoor scenes are characterized by poorly localizable features. As a result, indoor feature tracking without artificial markers is challenging and remains an attractive problem. We propose to solve this problem by constraining the locations of a large number of nondistinctive features by several planar homographies which are strategically computed using distinctive features. We experimentally show the need for multiple homographies and propose an illumination-invariant local-optimization scheme for motion refinement. The use of a large number of nondistinctive features within the constraints imposed by planar homographies allows us to gain robustness. Also, the lesser computation cost in estimating these nondistinctive features helps to maintain the efficiency of the proposed method. Our local-optimization scheme produces subpixel accurate featuremotion. As a result, we are able to achieve robust and accurate feature tracking.