Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Multiview Constraints on Homographies
IEEE Transactions on Pattern Analysis and Machine Intelligence
From lines to epipoles through planes in two views
Pattern Recognition
Image-based robot navigation from an image memory
Robotics and Autonomous Systems
From omnidirectional images to hierarchical localization
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Monocular Vision for Mobile Robot Localization and Autonomous Navigation
International Journal of Computer Vision
Plane-based camera self-calibration by metric rectification of images
Image and Vision Computing
Indoor navigation of a non-holonomic mobile robot using a visual memory
Autonomous Robots
Piecewise planar scene reconstruction from sparse correspondences
Image and Vision Computing
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Homography-based visual servo tracking control of a wheeled mobile robot
IEEE Transactions on Robotics
Distributed multi-camera visual mapping using topological maps of planar regions
Pattern Recognition
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Topological visual maps contain different abstraction levels of information that can be used by robots to carry out different activities. We propose here a new hierarchical structure in which landmarks extracted from conventional images are grouped creating a graph of planar regions. The new hierarchy improves previous approaches based on images reducing both, the size of the graph and its complexity. In order to segment and group the planar regions of a sequence of images a new approach based on the simultaneous matching of two images and the previously extracted planar regions is proposed. We also consider multi-plane restrictions so that the method is robust to the appearance of new planes. The paper presents two contributions. First the triple matching approach to extract all the planes seen in the set of images and second a new topological map construction based on a graph of planar regions which can be used by mobile robots to localize and move in the environment. Experiments with real images in both indoor and outdoor environments show good performance of our proposal.