Kalman filtering: with real-time applications (2nd ed.)
Kalman filtering: with real-time applications (2nd ed.)
Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
3-D Scene Data Recovery Using Omnidirectional Multibaseline Stereo
International Journal of Computer Vision
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
Machine Learning - Special issue on learning in autonomous robots
International Journal of Computer Vision - Special issue on image-based servoing
Recursive Estimation of Motion, Structure, and Focal Length
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structure from Motion Causally Integrated Over Time
IEEE Transactions on Pattern Analysis and Machine Intelligence
Simultaneous Localization and Map-Building Using Active Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Ego-Motion Estimation Using Optical Flow Fields Observed from Multiple Cameras
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Making Good Features Track Better
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Omni-Directional Structure from Motion
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
In defence of the 8-point algorithm
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
High resolution terrain mapping using low altitude aerial stereo imagery
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Visual Modeling with a Hand-Held Camera
International Journal of Computer Vision
Recursive Estimation of 3D Motion and Surface Structure from Local Affine Flow Parameters
IEEE Transactions on Pattern Analysis and Machine Intelligence
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Vision-based global localization and mapping for mobile robots
IEEE Transactions on Robotics
Inverse Depth Parametrization for Monocular SLAM
IEEE Transactions on Robotics
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This paper deals with recursive reconstruction of a scene model from unknown motion of a two-camera system capturing the images of the scene. Single camera systems with a relatively small field of view have limited accuracy because of the inherent confusion between translation and rotation. Estimation results from the stereo camera systems are also compromised due to this confusion if the systems require the fields of view to intersect for stereo correspondence. The cameras constituting the two-camera system considered in this paper are arranged so that there is a small intersection of the fields of view. This configuration of divergent view improves the accuracy of the structure and motion estimation because the ambiguity mentioned above decreases due to a large field of view. In this paper, a recursive algorithm is proposed for fast scene model reconstruction using a two-camera system of divergent view. Using inversely inferred stereo correspondences in the intersection of the fields of view is also proposed to remove degeneracy of scale factor determination and to acquire more accurate results from the information redundancy. The results of the experiments with long term real image sequences are presented to demonstrate the feasibility of the proposed system.