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Detecting already-visited regions in vision-based navigation and mapping helps reduce drift and position uncertainties. Inspired from content-based image retrieval, an efficient approach is the use of visual vocabularies for measuring similarities between images. In this way, images corresponding to the same scene region can be associated. The state of the art proposals that address this topic suffer...
This paper presents a complete solution for creating accurate 3D textured models from monocular video sequences. The methods are developed within the framework of sequential structure from motion, where a 3D model of the environment is maintained and updated as new visual information becomes available. The camera position is recovered by directly associating the 3D scene model with local image observations...
Many applications in mobile and underwater robotics employ 3D vision techniques for navigation and mapping. These techniques usually involve the extraction and 3D reconstruction of scene interest points. Nevertheless, in large environments the huge volume of acquired information could pose serious problems to real-time data processing. Moreover, In order to minimize the drift, these techniques use...
Photo-mosaicing techniques have become popular for seafloor mapping in various marine science applications. However, the common methods cannot accurately map regions with high relief and topographical variations. Ortho-mosaicing borrowed from photogrammetry is an alternative technique that enables taking into account the 3-D shape of the terrain. A serious bottleneck is the volume of elevation information...
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