The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We combine a visual odometry system with an aided inertial navigation filter to produce a precise and robust navigation system that does not rely on external infrastructure. Incremental structure from motion with sparse bundle adjustment using a stereo camera provides real-time highly accurate pose estimates of the sensor which are combined with six degree-of-freedom inertial measurements in an Extended...
We present algorithms for plane-based calibration of general radially distorted cameras. By this, we understand cameras that have a distortion center and an optical axis such that the projection rays of pixels lying on a circle centered on the distortion center form a right viewing cone centered on the optical axis. The camera is said to have a single viewpoint (SVP) if all such viewing cones have...
We present a system for monocular simultaneous localization and mapping (mono-SLAM) relying solely on video input. Our algorithm makes it possible to precisely estimate the camera trajectory without relying on any motion model. The estimation is completely incremental: at a given time frame, only the current location is estimated while the previous camera positions are never modified. In particular,...
In this paper we study the problem of visual loop closing for long trajectories in an urban environment. We use GPS positioning only to narrow down the search area and use pre-built vocabulary trees to find the best matching image in this search area. Geometric consistency is then used to prune out the bad matches. We compare several vocabulary trees on a sequence of 6.5 kilometers. We experiment...
We present an algorithm for plane-based self-calibration of cameras with radially symmetric distortions given a set of sparse feature matches in at least two views. The projection function of such cameras can be seen as a projection with a pinhole camera, followed by a non-parametric displacement of the image points in the direction of the distortion center. The displacement is a function of the points'...
Matrix factorization is a key component for solving several computer vision problems. It is particularly challenging in the presence of missing or erroneous data, which often arise in structure-from-motion. We propose batch algorithms for matrix factorization. They are based on closure and basis constraints, that are used either on the cameras or the structure, leading to four possible algorithms...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.