Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Efficient Graph-Based Image Segmentation
International Journal of Computer Vision
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 Comparison and Evaluation of Multi-View Stereo Reconstruction Algorithms
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Detailed Real-Time Urban 3D Reconstruction from Video
International Journal of Computer Vision
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Realtime multibody visual SLAM with a smoothly moving monocular camera
ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
DTAM: Dense tracking and mapping in real-time
ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
A Bayes filter based adaptive floor segmentation with homography and appearance cues
Proceedings of the Eighth Indian Conference on Computer Vision, Graphics and Image Processing
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Single camera mobile robots, wherein the single camera becomes the quintessential sensor for robotic tasks such as localization, mapping and obstacle avoidance are challenging. From such a standpoint, we demonstrate a dense reconstruction as conducted by a navigating robot with a monocular camera. Unlike most other dense reconstruction methods this approach first identifies planar areas through homography. These segments are tracked over multiple views with homography based dense correspondences. The tracked correspondences are reconstructed within a VSLAM formulation, wherein the dense reconstructed points get added to the existing SLAM computed structure. The dense structure is further refined using a modified Bundle Adjustment which minimizes projection error in 3D to align with a inferred model of the scene. A mobile robot can thus make use of the reconstructed ground plane and planar obstacles to compute a collision free trajectory.