Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Scale & Affine Invariant Interest Point Detectors
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
Omnidirectional Vision Based Topological Navigation
International Journal of Computer Vision
Enhancing the point feature tracker by adaptive modelling of the feature support
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part II
A mapping and localization framework for scalable appearance-based navigation
Computer Vision and Image Understanding
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This paper presents a monocular vision framework enabling feature-oriented appearance-based navigation in large outdoor environments containing other moving objects. The framework is based on a hybrid topological-geometrical environment representation, constructed from a learning sequence acquired during a robot motion under human control. The framework achieves the desired navigation functionality without requiring a global geometrical consistency of the underlying environment representation. The main advantages with respect to conventional alternatives are unlimited scalability, real-time mapping and effortless dealing with interconnected environments once the loops have been properly detected. The framework has been validated in demanding, cluttered and interconnected environments, under different imaging conditions. The experiments have been performed on many long sequences acquired from moving cars, as well as in real-time large-scale navigation trials relying exclusively on a single perspective camera. The obtained results imply that a globally consistent geometric environment model is not mandatory for successful vision-based outdoor navigation.