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We propose a topological localization method based on optical flow information. We analyse the statistical characteristics of the optical flow signal and demonstrate that the flow vectors can be used to identify and describe key locations in the environment. The key locations (nodes) correspond to significant scene changes and depth discontinuities. Since optical flow vectors contain position, magnitude...
This study describes a novel, vision-based system for guidance of UAVs. The system uses two coaxially aligned cameras, each associated with a specially-shaped reflective surface, to obtain stereo information on the height above ground and the distances to potential obstacles. The camera-mirror system has the advantage that it remaps the world onto a cylindrical co-ordinate system that simplifies and...
Conventional mirrors for panoramic imaging usually capture circular images. As these images are difficult to interpret visually, they are often remapped digitally into a rectangular image in which one axis represents azimuth and the other elevation. This paper describes a class of mirrors that perform the capture as well as the remapping, thus eliminating the need for computational resources. They...
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