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Buildings consume around 40% of overall energy in the world. Planar mirror detection problem (PMDP) arises when surveying reflective building surface for building energy retrofit. PMDP is also important for collision avoidance when robots navigate close to highly reflective glassy walls. Our approach uses two views from an on-board camera. First, we derive geometric constraints for corresponding real-virtual...
To facilitate scene understanding and robot navigation in a modern urban area, we design a multilayer feature graph (MFG) based on two views from an on-board camera. The nodes of an MFG are features such as scale invariant feature transformation (SIFT) feature points, line segments, lines, and planes while edges of the MFG represent different geometric relationships such as adjacency, parallelism,...
A novel method is presented for robustly estimating the location of a mobile robot in urban areas based on images extracted from a monocular onboard camera, given a 2D building boundary map. The proposed approach firstly reconstructs a set of vertical planes by sampling and clustering vertical lines from the image with Random Sample Consensus (RANSAC), using the derived 1D homographies to inform the...
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