Omnidirectional images arising from 3D-motion of a camera contain persistent structures over a large variation of motions because of their large field of view. This persistence ma...
Robotic navigation algorithms increasingly make use of the panoramic field of view provided by omnidirectional images to assist with localization tasks. Since the images taken by ...
This paper addresses the problem of rotation estimation directly from images defined on the sphere and without correspondence. The method is particularly useful for the alignment ...
When a purely rotating camera observes a general scene, overlapping views are related by a parallax-free warp which can be estimated by direct image alignment methods that iterate ...
Abstract— Mobile robots can be easily equipped with numerous sensors which can aid in the tasks of localization and ego-motion estimation. Two such examples are Inertial Measurem...