Computer Vision, Graphics, and Image Processing
IEEE Transactions on Pattern Analysis and Machine Intelligence
Computer graphics: principles and practice (2nd ed.)
Computer graphics: principles and practice (2nd ed.)
Matching Aerial Images to 3-D Terrain Maps
IEEE Transactions on Pattern Analysis and Machine Intelligence
The Perspective Representation of Functions of Two Variables
Journal of the ACM (JACM)
Algorithm 420: hidden-line plotting program [J6]
Communications of the ACM
UAI '89 Proceedings of the Fifth Annual Conference on Uncertainty in Artificial Intelligence
Evolving an Environment Model for Robot Localization
Proceedings of the Second European Workshop on Genetic Programming
Automatic detection of dust devils and clouds on Mars
Machine Vision and Applications
Position and pose computation of a moving camera using geometric edge matching for visual slam
HCI'07 Proceedings of the 12th international conference on Human-computer interaction: intelligent multimodal interaction environments
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The use of computer graphics in estimating the position of an autonomous mobile robot navigating in an outdoor mountainous environment is discussed. A digital elevation map (DEM) of the area in which the robot is to navigate is given, and the robot is equipped with a camera that can be panned and tilted, a compass, and an altimeter. The position of the robot is estimated by establishing a correspondence between the images acquired by the camera on the robot (actual images) and the images generated from the DEM (predicted images) using computer graphics techniques. Features are extracted from the predicted images and the actual images that are used in establishing the correspondence. The features used are the horizon line contours (HLCs) in the images. To reduce the search space a constrained search paradigm is used. Geometric constraints help prune the search space significantly.