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This paper describes the design and testing of a technique to enable long-range autonomous navigation using a stereo camera as the only sensor. During a learning phase, the rover is piloted along a route capturing stereo images. The images are processed into a manifold map of topologically-connected submaps that may be used for localization during an autonomous repeat traverse. Path following in non-planar...
A points surface reconstruction algorithm of 3D object models from multiple silhouettes is proposed in this paper. Some images of the target object are taken from a circular trajectory by a robot with a camera mounted in an eye-in-hand configuration. The silhouettes of the observed object are evaluated for each view using a blob analysis process, and from those a set of points that sample a reconstruction...
This paper addresses the problem of motion estimation and 3-D reconstruction through visual tracking with a single-viewpoint sensor and, in particular, how to generalize tracking to calibrated omnidirectional cameras. We analyze different minimization approaches for the intensity-based cost function (sum of squared differences). In particular, we propose novel variants of the efficient second-order...
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