Motion Estimation with More than Two Frames
IEEE Transactions on Pattern Analysis and Machine Intelligence
CVGIP: Image Understanding
3-D Scene Data Recovery Using Omnidirectional Multibaseline Stereo
International Journal of Computer Vision
Epipolar Geometry of Panoramic Cameras
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Catadioptric Omnidirectional Camera
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Visual Surveillance and Monitoring System Using an Omnidirectional Video Camera
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 1 - Volume 1
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We address the problem of control-based recovery of robot pose and the environmental lay-out. Panoramic sensors provide us with a 1D projection of characteristic features of a 2D operation map. Trajectories of these projections contain information about the position of a priori unknown landmarks in the environment. We introduce here the notion of spatiotemporal signatures of projection trajectories. These signatures are global measures, characterized by considerably higher robustness with respect to noise and outliers than the commonly applied point correspondence. By modeling the 2D motion plane as the complex plane we show that by means of complex analysis the reconstruction problem is reduced to a system of two quadratic - or even linear in some cases - equations in two variables. The algorithm is tested in simulations and real experiments.