Autocalibration from Planar Scenes
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Omni-Directional Structure from Motion
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Video Google: A Text Retrieval Approach to Object Matching in Videos
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Introduction to Autonomous Mobile Robots
Introduction to Autonomous Mobile Robots
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Atlas: a framework for large scale automated mapping and localization
Atlas: a framework for large scale automated mapping and localization
Structure from Motion with Wide Circular Field of View Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Detecting Loop Closure with Scene Sequences
International Journal of Computer Vision
Monocular omnidirectional visual odometry for outdoor ground vehicles
ICVS'08 Proceedings of the 6th international conference on Computer vision systems
Appearance-Guided Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles
IEEE Transactions on Robotics
Exploiting loops in the graph of trifocal tensors for calibrating a network of cameras
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part II
On Camera Calibration with Linear Programming and Loop Constraint Linearization
International Journal of Computer Vision
Robotics and Autonomous Systems
DeWaLoP in-pipe robot position from visual patterns
MICAI'12 Proceedings of the 11th Mexican international conference on Advances in Artificial Intelligence - Volume Part I
Cleaning robot navigation using panoramic views and particle clouds as landmarks
Robotics and Autonomous Systems
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In this paper, we present a method that allows us to recover the trajectory of a vehicle purely from monocular omnidirectional images very accurately. The method uses a combination of appearance-guided structure from motion and loop closing. The appearance-guided monocular structure-from-motion scheme is used for initial motion estimation. Appearance information is used to correct the rotation estimates computed from feature points only. A place recognition scheme is employed for loop detection, which works with a visual word based approach. Loop closing is done by bundle adjustment minimizing the reprojection error of feature matches. The proposed method is successfully demonstrated on videos from an automotive platform. The experiments show that the use of appearance information leads to superior motion estimates compared to a purely feature based approach. And we demonstrate a working loop closing method which eliminates the residual drift errors of the motion estimation.