Multiple view geometry in computer vision
Multiple view geometry in computer vision
Multiview Constraints on Homographies
IEEE Transactions on Pattern Analysis and Machine Intelligence
Numerical Recipes in C++: the art of scientific computing
Numerical Recipes in C++: the art of scientific computing
Distributed Algorithms
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
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
Robust multi-view feature matching from multiple unordered views
Pattern Recognition
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
IJCAI'77 Proceedings of the 5th international joint conference on Artificial intelligence - Volume 1
Multi-robot visual SLAM using a Rao-Blackwellized particle filter
Robotics and Autonomous Systems
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Piecewise planar scene reconstruction from sparse correspondences
Image and Vision Computing
Topological maps based on graphs of planar regions
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Scene categorization via contextual visual words
Pattern Recognition
Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on gait analysis
Wide-baseline multiple-view correspondences
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
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
Fusing Monocular Information in Multicamera SLAM
IEEE Transactions on Robotics
Fast and Incremental Method for Loop-Closure Detection Using Bags of Visual Words
IEEE Transactions on Robotics
Inverse Depth Parametrization for Monocular SLAM
IEEE Transactions on Robotics
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This paper presents a multi-agent solution for cooperative visual mapping using planar regions. Each agent is assumed to be equipped with a conventional camera and has limited communication capabilities. Our approach starts building topological maps from independent image sequences where natural landmarks extracted from conventional images are grouped to create a graph of planes. With this approach the features observed in several images belonging to the same planar region are stored only once, reducing the size of the individual maps. In a distributed scenario this is very important because smaller maps can be transmitted faster, which makes our approach better suited for cooperative mapping. The later fusion of the individual maps is obtained via distributed consensus without any initial information about the relations between the different maps. Experiments with real images in complex scenarios show the good performance of our proposal.