Monocular Vision for Mobile Robot Localization and Autonomous Navigation
International Journal of Computer Vision
Outlier rejection for cameras on intelligent vehicles
Pattern Recognition Letters
What can be done with an embedded stereo-rig in urban environments?
Robotics and Autonomous Systems
Uniqueness Filtering for Local Feature Descriptors in Urban Building Recognition
ICISP '08 Proceedings of the 3rd international conference on Image and Signal Processing
Generic and real-time structure from motion using local bundle adjustment
Image and Vision Computing
Robust and efficient feature tracking for indoor navigation
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A framework for scalable vision-only navigation
ACIVS'07 Proceedings of the 9th international conference on Advanced concepts for intelligent vision systems
Real-time hierarchical stereo Visual SLAM in large-scale environments
Robotics and Autonomous Systems
Accurate 3d structure measurements from two uncalibrated views
ACIVS'06 Proceedings of the 8th international conference on Advanced Concepts For Intelligent Vision Systems
Vision-based augmented reality visual guidance with keyframes
CGI'06 Proceedings of the 24th international conference on Advances in Computer Graphics
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In this paper we present a method for computing the localization of a mobile robot with reference to a learning video sequence. The robot is first guided on a path by a human, while the camera records a monocular learning sequence. Then a 3D reconstruction of the path and the environment is computed off line from the learning sequence. The 3D reconstruction is then used for computing the pose of the robot in real time (30 Hz) in autonomous navigation. Results from our localization method are compared to the ground truth measured with a differential GPS.