Paracatadioptric Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Catadioptric Projective Geometry
International Journal of Computer Vision
Hough transform for feature detection in panoramic images
Pattern Recognition Letters
Using an Image Retrieval System for Vision-Based Mobile Robot Localization
CIVR '02 Proceedings of the International Conference on Image and Video Retrieval
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
A General Approach for Egomotion Estimation with Omnidirectional Images
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Robot Homing by Exploiting Panoramic Vision
Autonomous Robots
Panoramic stereo reconstruction using non-SVP optics
Computer Vision and Image Understanding
Self-localization in non-stationary environments using omni-directional vision
Robotics and Autonomous Systems
Processing Sparse Panoramic Images via Space Variant Operators
Journal of Mathematical Imaging and Vision
Panoramic stereo reconstruction using non-SVP optics
Computer Vision and Image Understanding
Dynamic programming and skyline extraction in catadioptric infrared images
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
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A Catadioptric and Pan-Tilt-Zoom Camera Pair Object Tracking System for UAVs
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
Rotation estimation and vanishing point extraction by omnidirectional vision in urban environment
International Journal of Robotics Research
Optical flow estimation on omnidirectional images: an adapted phase based method
ICISP'12 Proceedings of the 5th international conference on Image and Signal Processing
Adapted Approach for Omnidirectional Egomotion Estimation*
International Journal of Computer Vision and Image Processing
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We describe a method for visual based robot navigation with a single omni-directional (catadioptric) camera. We show how omni-directional images can be used to generate the representations needed for two main navigation modalities: Topological Navigation and Visual Path Following.Topological navigation relies on the robot's qualitative global position, estimated from a set of omni-directional images obtained during a training stage (compressed using PCA). To deal with illumination changes, an eigenspace approximation to the Hausdorff measure is exploited. We present a method to transform omni-directional images to Bird's Eye Views that correspond to scaled orthographic views of the ground plane. These images are used to locally control the orientation of the robot, through visual servoing.Visual Path Following is used to accurately control the robot along a prescribed trajectory, by using bird's eye views to track landmarks on the ground plane. Due to the simplified geometry of these images, the robot's pose can be estimated easily and used for accurate trajectory following.Omni-directional images facilitate landmark-based navigation, since landmarks remain visible in all images, as opposed to a small field-of-view standard camera. In addition, omni-directional images provide the means of having adequate representations to support both accurate and qualitative navigation. Results are described in the paper.