Active vision
Review and analysis of solutions of the three point perspective pose estimation problem
International Journal of Computer Vision
Computer Vision and Image Understanding
International Journal of Computer Vision - Joint special issue on image analysis
Estimation with Applications to Tracking and Navigation
Estimation with Applications to Tracking and Navigation
Mobile Robot Localisation Using Active Vision
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
An Introduction to 3D Computer Vision Techniques and Algorithms
An Introduction to 3D Computer Vision Techniques and Algorithms
Two years of Visual Odometry on the Mars Exploration Rovers: Field Reports
Journal of Field Robotics - Special Issue on Space Robotics
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
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We present a two-step iterative algorithm to estimate the trajectory of a hopping rover. In the first step, a monocular scheme of visual odometry is adapted to estimate an initial portion the hopping trajectory. From this, the parameters for the ballistic motion are recovered, and the trajectory is extrapolated to predict the positions of the rover for the remainder of the hop. In the second step, we devise a scheme called "selective vision", combining the ideas of active vision and guided search. An envelope lying between the start and end of a hop is defined, within which features most likely to be re-observed across a hop are detected and matched. Performing pose estimation on the these matched features allow the relative motion between a camera frame within the visual odometry step and a camera frame within the extrapolated trajectory to be estimated. The newly determined camera frame in the extrapolated trajectory can then be used to refine the parameters of the ballistic motion, and the trajectory can be re-extrapolated to predict future positions of the hopping rover. Following this scheme, it is possible to estimate the trajectory of a hopping rover undergoing continuous rotational motion with only one set of cameras without continuous tracking of terrain features.