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In this paper we present a novel method that estimates the motion parameters of a monocular camera, which is under unconstrained movement. Different from the traditional works which tackle the problem by establishing motion correspondences, or by calculating optical flows within the image sequence, the proposed method estimates the motion parameters directly by using the information of spatio-temporal...
This paper investigates the problem of robot visual homing — the navigation to a goal location by a mobile robot using visual sensory input. The visual homing approach taken is to consider the flow vectors between a robot's current view and a desired milestone view. The flow vectors can be used to determine an angular velocity command that attempts to align the two views under a constant forward speed...
In appearance based SLAM (Simultaneous Localisation and Mapping), a robot typically represents its environment through a set of acquired images that are associated with nodes in a topological map. Rather than storing every acquired image, which can be memory intensive, a selection of images (keyframes) representative of the places visited can be stored. Keyframe detection (i.e. choosing when to add...
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