Performance Evaluation and Analysis of Vanishing Point Detection Techniques
IEEE Transactions on Pattern Analysis and Machine Intelligence
Catadioptric Projective Geometry
International Journal of Computer Vision
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
Manhattan world: orientation and outlier detection by Bayesian inference
Neural Computation
Omni-Directional Vision for Robot Navigation
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Reliable 3D Reconstruction from a Few Catadioptric Images
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Orientation in Manhattan: Equiprojective Classes and Sequential Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Radon-Based Structure from Motion without Correspondences
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Geometric Properties of Central Catadioptric Line Images and Their Application in Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Rotation Recovery from Spherical Images without Correspondences
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real Time Localization and 3D Reconstruction
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
A Minimal Solution to the Generalised 3-Point Pose Problem
Journal of Mathematical Imaging and Vision
Towards Urban 3D Reconstruction from Video
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
Relative Pose Calibration Between Visual and Inertial Sensors
International Journal of Robotics Research
Vanishing Point Detection in Complex Man-made Worlds
ICIAP '07 Proceedings of the 14th International Conference on Image Analysis and Processing
Efficient Edge-Based Methods for Estimating Manhattan Frames in Urban Imagery
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part II
Interpreting perspective images
Artificial Intelligence
Real-time monocular visual odometry for on-road vehicles with 1-point RANSAC
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Motion estimation by decoupling rotation and translation in catadioptric vision
Computer Vision and Image Understanding
Computer Vision and Image Understanding
Visual odometry for non-overlapping views using second-order cone programming
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part II
Spherical approximation for multiple cameras in motion estimation: Its applicability and advantages
Computer Vision and Image Understanding
Omnidirectional Image Stabilization for Visual Object Recognition
International Journal of Computer Vision
Appearance-Guided Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles
IEEE Transactions on Robotics
An accurate and robust visual-compass algorithm for robot-mounted omnidirectional cameras
Robotics and Autonomous Systems
Globally optimal consensus set maximization through rotation search
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part II
Line image signature for scene understanding with a wearable vision system
Proceedings of the 4th International SenseCam & Pervasive Imaging Conference
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Rotation estimation is a fundamental step for various robotic applications such as automatic control of ground/aerial vehicles, motion estimation and 3D reconstruction. However it is now well established that traditional navigation equipments, such as global positioning systems (GPSs) or inertial measurement units (IMUs), suffer from several disadvantages. Hence, some vision-based works have been proposed recently. Whereas interesting results can be obtained, the existing methods have non-negligible limitations such as a difficult feature matching (e.g. repeated textures, blur or illumination changes) and a high computational cost (e.g. analyze in the frequency domain). Moreover, most of them utilize conventional perspective cameras and thus have a limited field of view. In order to overcome these limitations, in this paper we present a novel rotation estimation approach based on the extraction of vanishing points in omnidirectional images. The first advantage is that our rotation estimation is decoupled from the translation computation, which accelerates the execution time and results in a better control solution. This is made possible by our complete framework dedicated to omnidirectional vision, whereas conventional vision has a rotation/translation ambiguity. Second, we propose a top-down approach which maintains the important constraint of vanishing point orthogonality by inverting the problem: instead of performing a difficult line clustering preliminary step, we directly search for the orthogonal vanishing points. Finally, experimental results on various data sets for diverse robotic applications have demonstrated that our novel framework is accurate, robust, maintains the orthogonality of the vanishing points and can run in real-time.