Omnidirectional Vision Based Topological Navigation
International Journal of Computer Vision
Detecting Loop Closure with Scene Sequences
International Journal of Computer Vision
Robust Two-View External Calibration by Combining Lines and Scale Invariant Point Features
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
SenseCam Image Localisation Using Hierarchical SURF Trees
MMM '09 Proceedings of the 15th International Multimedia Modeling Conference on Advances in Multimedia Modeling
A slope K method for image based localization
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
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The capability of maintaining the pose of the mobile robot is central for basic navigation and map building tasks. In this paper we describe a vision-based hybrid localization scheme based on scale-invariant keypoints. In the first stage the topological localization is accomplished by matching the keypoints detected in the current view with the database of model views. Once the best match has been found, the relative pose between the model view and the current image is recovered. We demonstrate the efficiency of the location recognition approach and present a closed form solution to the relative pose recovery for the case of planar motion and unknown focal length of the camera. The approach is demonstrated on several examples of indoors environments.