The representation, recognition, and locating of 3-d objects
International Journal of Robotics Research
Review and analysis of solutions of the three point perspective pose estimation problem
International Journal of Computer Vision
A fully projective formulation to improve the accuracy of Lowe's pose-estimation algorithm
Computer Vision and Image Understanding
The Problem of Degeneracy in Structure and Motion Recovery from Uncalibrated Image Sequences
International Journal of Computer Vision - 1998 Marr Prize
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Theory of Robot Control
Do We Really Need an Accurate Calibration Pattern to Achieve a Reliable Camera Calibration?
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Frame Decimation for Structure and Motion
SMILE '00 Revised Papers from Second European Workshop on 3D Structure from Multiple Images of Large-Scale Environments
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Robot Homing by Exploiting Panoramic Vision
Autonomous Robots
Localization in Urban Environments: Monocular Vision Compared to a Differential GPS Sensor
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Localization methods for a mobile robot in urban environments
IEEE Transactions on Robotics
Vision-Based Localization for Mobile Robots Using a Set of Known Views
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
A mapping and localization framework for scalable appearance-based navigation
Computer Vision and Image Understanding
Qualitative vision-based path following
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Autonomous navigation of vehicles from a visual memory using a generic camera model
IEEE Transactions on Intelligent Transportation Systems
Matching Planar Features for Robot Localization
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Horizon matching for localizing unordered panoramic images
Computer Vision and Image Understanding
Automatic free parking space detection by using motion stereo-based 3D reconstruction
Machine Vision and Applications
Visual navigation with a time-independent varying reference
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Fast pose estimation for visual navigation using homographies
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Topological maps based on graphs of planar regions
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Distributed multi-camera visual mapping using topological maps of planar regions
Pattern Recognition
Active vision in robotic systems: A survey of recent developments
International Journal of Robotics Research
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part I
3D information extraction using Region-based Deformable Net for monocular robot navigation
Journal of Visual Communication and Image Representation
A fast robot homing approach using sparse image waypoints
Image and Vision Computing
Combining color and haar wavelet responses for aerial image classification
ICAISC'12 Proceedings of the 11th international conference on Artificial Intelligence and Soft Computing - Volume Part I
Using mutual information for appearance-based visual path following
Robotics and Autonomous Systems
Vehicle localization using omnidirectional camera with GPS supporting in wide urban area
ACCV'12 Proceedings of the 11th international conference on Computer Vision - Volume Part I
Photometric visual servoing for omnidirectional cameras
Autonomous Robots
Combining edge and one-point RANSAC algorithm to estimate visual odometry
ICIC'13 Proceedings of the 9th international conference on Intelligent Computing Theories
Measurement error analysis and accuracy enhancement of 2D vision system for robotic drilling
Robotics and Computer-Integrated Manufacturing
Direct model based visual tracking and pose estimation using mutual information
Image and Vision Computing
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This paper presents a new real-time localization system for a mobile robot. We show that autonomous navigation is possible in outdoor situation with the use of a single camera and natural landmarks. To do that, we use a three step approach. In a learning step, the robot is manually guided on a path and a video sequence is recorded with a front looking camera. Then a structure from motion algorithm is used to build a 3D map from this learning sequence. Finally in the navigation step, the robot uses this map to compute its localization in real-time and it follows the learning path or a slightly different path if desired. The vision algorithms used for map building and localization are first detailed. Then a large part of the paper is dedicated to the experimental evaluation of the accuracy and robustness of our algorithms based on experimental data collected during two years in various environments.