A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
Epipolar Geometry for Central Catadioptric Cameras
International Journal of Computer Vision
Mixing Catadioptric and Perspective Cameras
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Epipolar Geometry of Central Projection Systems Using Veronese Maps
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
A unifying geometric representation for central projection systems
Computer Vision and Image Understanding - Special issue on omnidirectional vision and camera networks
From omnidirectional images to hierarchical localization
Robotics and Autonomous Systems
Omnidirectional Vision Based Topological Navigation
International Journal of Computer Vision
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In this paper we present a novel approach to perform indoor self-localization using reference omnidirectional images. We only need one omnidirectional image of the whole scene stored in the robot memory and a conventional uncalibrated on-board camera. We match the omnidirectional image and the conventional images captured by the on-board camera and compute the hybrid epipolar geometry using lifted coordinates and robust techniques. We map the epipole in the reference omnidirectional image to a ground plane through a homography in lifted coordinates also, giving the position of the robot in the planar ground, and its uncertainty. We perform experiments with simulated and real data to show the feasibility of this new self-localization approach.