Using Specific Displacements to Analyze Motion without Calibration
International Journal of Computer Vision
Visual Homing: Surfing on the Epipoles
International Journal of Computer Vision
Stereo Calibration from Rigid Motions
IEEE Transactions on Pattern Analysis and Machine Intelligence
Calibration-Free Augmented Reality in Perspective
IEEE Transactions on Visualization and Computer Graphics
Simultaneous Localization and Map-Building Using Active Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Binocular Self-Alignment and Calibration from Planar Scenes
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Sequential Localisation and Map-Building in Computer Vision and Robotics
SMILE '00 Revised Papers from Second European Workshop on 3D Structure from Multiple Images of Large-Scale Environments
Real-Time Localisation and Mapping with Wearable Active Vision
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Visual reconstruction of ground plane obstacles in a sparse view robot environment
Graphical Models - Special issue on SPM 05
Active stereo vision-based mobile robot navigation for person tracking
Integrated Computer-Aided Engineering - Informatics in Control, Automation and Robotics
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
| Hi-index | 0.00 |
Demonstrates a method of using nonmetric visual information derived from an uncalibrated active vision system to navigate an autonomous vehicle through free-space regions detected in a cluttered environment. The structure of 3-space is recovered modulo an affine transformation using an uncalibrated active stereo head carried by the vehicle. The plane at infinity, necessary for recovering affine structure from projective structure, is found in a novel manner by making controlled rotations of the head. The structure is composed of 3D points obtained by detecting and matching image corners through the stereo image sequence. Considerable care has been taken to ensure that the processing is reliable, robust and automatic. Driveable regions are determined from the projection of the affine structure onto a plane parallel to the ground determined using projective constructs. Two methods of negotiating the regions are explored. The first introduces metric information to allow control of a Euclidean vehicle. The second uses visual servoing of the active head to navigate in the affinely described free-space regions.