Fundamentals of digital image processing
Fundamentals of digital image processing
Review and analysis of solutions of the three point perspective pose estimation problem
International Journal of Computer Vision
Local Grayvalue Invariants for Image Retrieval
IEEE Transactions on Pattern Analysis and Machine Intelligence
An optimal algorithm for approximate nearest neighbor searching fixed dimensions
Journal of the ACM (JACM)
Future Generation Computer Systems - Special double issue on virtual reality in industry and research
CyberCode: designing augmented reality environments with visual tags
DARE '00 Proceedings of DARE 2000 on Designing augmented reality environments
Estimation of Relative Camera Positions for Uncalibrated Cameras
ECCV '92 Proceedings of the Second European Conference on Computer Vision
An Affine Invariant Interest Point Detector
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part I
Shared Autonomy for Wheel Chair Control: Attempts to Assess the User's Autonomy
Autonome Mobile Systeme 2001, 17. Fachgespräch
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Real-Time Camera Parameter Estimation from Images for a Mixed Reality System
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 4
Robust Localization Using Panoramic View-Based Recognition
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 4
Visual Homing: Surfing on the Epipoles
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Mirrors in motion: Epipolar geometry and motion estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Visual Modeling with a Hand-Held Camera
International Journal of Computer Vision
Global Localization and Relative Pose Estimation Based on Scale-Invariant Features
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 4 - Volume 04
Learning topological maps with weak local odometric information
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
Range determination for mobile robots using an omnidirectional camera
Integrated Computer-Aided Engineering - Informatics in Control, Automation and Robotics
A mapping and localization framework for scalable appearance-based navigation
Computer Vision and Image Understanding
Omnidirectional Image Stabilization by Computing Camera Trajectory
PSIVT '09 Proceedings of the 3rd Pacific Rim Symposium on Advances in Image and Video Technology
Robotics and Autonomous Systems
Using Multi-view Recognition and Meta-data Annotation to Guide a Robot's Attention
International Journal of Robotics Research
Appearance-Based SLAM for Mobile Robots
Proceedings of the 2009 conference on Artificial Intelligence Research and Development: Proceedings of the 12th International Conference of the Catalan Association for Artificial Intelligence
Appearance-Based SLAM for Mobile Robots
Proceedings of the 2009 conference on Artificial Intelligence Research and Development: Proceedings of the 12th International Conference of the Catalan Association for Artificial Intelligence
Visual topological SLAM and global localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Mobile robot vision-based navigation using self-organizing and incremental neural networks
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
Probabilistic structure matching for visual SLAM with a multi-camera rig
Computer Vision and Image Understanding
Improving topological maps for safer and robust navigation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Self-location from monocular uncalibrated vision using reference omniviews
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A framework for scalable vision-only navigation
ACIVS'07 Proceedings of the 9th international conference on Advanced concepts for intelligent vision systems
Vast-scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment
International Journal of Robotics Research
Two novel real-time local visual features for omnidirectional vision
Pattern Recognition
Three 2D-warping schemes for visual robot navigation
Autonomous Robots
Mapping and Localization for Mobile Robots through Environment Appearance Update
Proceedings of the 2010 conference on Artificial Intelligence Research and Development: Proceedings of the 13th International Conference of the Catalan Association for Artificial Intelligence
Proceedings of the 2010 conference on Artificial Intelligence Research and Development: Proceedings of the 13th International Conference of the Catalan Association for Artificial Intelligence
Online and Incremental Appearance-based SLAM in Highly Dynamic Environments
International Journal of Robotics Research
Testing image segmentation for topological SLAM with omnidirectional images
MICAI'10 Proceedings of the 9th Mexican international conference on Advances in artificial intelligence: Part I
Omnidirectional Image Stabilization for Visual Object Recognition
International Journal of Computer Vision
Visual-inertial navigation, mapping and localization: A scalable real-time causal approach
International Journal of Robotics Research
Online probabilistic topological mapping
International Journal of Robotics Research
Mobile robot map building from time-of-flight camera
Expert Systems with Applications: An International Journal
A fast robot homing approach using sparse image waypoints
Image and Vision Computing
Global localization with non-quantized local image features
Robotics and Autonomous Systems
An accurate and robust visual-compass algorithm for robot-mounted omnidirectional cameras
Robotics and Autonomous Systems
Robust omnidirectional mobile robot topological navigation system using omnidirectional vision
Engineering Applications of Artificial Intelligence
Cleaning robot navigation using panoramic views and particle clouds as landmarks
Robotics and Autonomous Systems
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In this work we present a novel system for autonomous mobile robot navigation. With only an omnidirectional camera as sensor, this system is able to build automatically and robustly accurate topologically organised environment maps of a complex, natural environment. It can localise itself using such a map at each moment, including both at startup (kidnapped robot) or using knowledge of former localisations. The topological nature of the map is similar to the intuitive maps humans use, is memory-efficient and enables fast and simple path planning towards a specified goal. We developed a real-time visual servoing technique to steer the system along the computed path.A key technology making this all possible is the novel fast wide baseline feature matching, which yields an efficient description of the scene, with a focus on man-made environments.