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ICRA
2006
IEEE

Localization with Omnidirectional Images using the Radial Trifocal Tensor

10 years 7 months ago
Localization with Omnidirectional Images using the Radial Trifocal Tensor
— In this paper we present a technique to linearly recover 2D structure and motion in man made environments from three uncalibrated omnidirectional views. We use vertical lines from the scene which are projected as radial lines in the images and are automatically matched. The algorithm is based on a 1D radial trifocal tensor which encodes the relations of the three views and the projected lines. We include experiments with real images, which demonstrate the good performance of the method and its application to robotic tasks, such as robot localization based in a database of reference images or to obtain the initial values of robot and landmarks localization in SLAM algorithms.
Carlos Sagüés, A. C. Murillo, Jos&eacu
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Carlos Sagüés, A. C. Murillo, José Jesús Guerrero, Toon Goedemé, Tinne Tuytelaars, Luc J. Van Gool
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