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Omnidirectional vision is highly beneficial for robot navigation. We present a novel perspective pose estimation for omnidirectional vision involving a parabolic central catadioptric sensor using small data sets. We incorporate an appropriate and approved stochastic method to deal with uncertainties in the data. Our approach is robust in that it is more accurate than recent methods while using less...
In this paper we present a new representation for 3D free-form contours in the conformal geometric algebra G4, 1. This new representation allows to extract local geometrical feature information which is used to solve the correspondence problem for pose estimation applications. Under perspective projection, local features are extracted from a projected contour segment and compared with image features...
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