The Problem of Degeneracy in Structure and Motion Recovery from Uncalibrated Image Sequences
International Journal of Computer Vision - 1998 Marr Prize
International Journal of Computer Vision - Special issue on image-based servoing
Multiview Constraints on Homographies
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robot Motion Planning and Control
Robot Motion Planning and Control
Epipolar Geometry for Central Catadioptric Cameras
International Journal of Computer Vision
Bayesian Model Estimation and Selection for Epipolar Geometry and Generic Manifold Fitting
International Journal of Computer Vision
A Unifying Theory for Central Panoramic Systems and Practical Applications
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Mirrors in motion: Epipolar geometry and motion estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Structure from Motion with Wide Circular Field of View Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robotics and Autonomous Systems
Switching visual control based on epipoles for mobile robots
Robotics and Autonomous Systems
Indoor navigation of a non-holonomic mobile robot using a visual memory
Autonomous Robots
Visual control through the trifocal tensor for nonholonomic robots
Robotics and Autonomous Systems
Estimation of omnidirectional camera model from epipolar geometry
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Robust homography-based control for camera positioning in piecewise planar environments
ICVGIP'06 Proceedings of the 5th Indian conference on Computer Vision, Graphics and Image Processing
Automatic matching and motion estimation from two views of a multiplane scene
IbPRIA'05 Proceedings of the Second Iberian conference on Pattern Recognition and Image Analysis - Volume Part I
Appearance-Guided Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles
IEEE Transactions on Robotics
Target tracking for mobile robot platforms via object matching and background anti-matching
Robotics and Autonomous Systems
Hi-index | 0.00 |
Two relevant issues in vision-based navigation are the field-of-view constraints of conventional cameras and the model and structure dependency of standard approaches. A good solution of these problems is the use of the homography model with omnidirectional vision. However, a plane of the scene will cover only a small part of the omnidirectional image, missing relevant information across the wide range field of view, which is the main advantage of omnidirectional sensors. The interest of this paper is in a new approach for computing multiple homographies from virtual planes using omnidirectional images and its application in an omnidirectional vision-based homing control scheme. The multiple homographies are robustly computed, from a set of point matches across two omnidirectional views, using a method that relies on virtual planes independently of the structure of the scene. The method takes advantage of the planar motion constraint of the platform and computes virtual vertical planes from the scene. The family of homographies is also constrained to be embedded in a three-dimensional linear subspace to improve numerical consistency. Simulations and real experiments are provided to evaluate our approach.