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Visual maps of the seafloor should ideally provide the ability to measure individual features of interest in real units. Two-dimensional photomosaics cannot provide this capability without making assumptions that often fail over 3-D terrain, and are generally used for visualization, but not for measurement. Full 3-D structure can be recovered using stereo vision, structure from motion (SFM), or simultaneous...
Vision is one of the most important aesthesia of mobile robot. Conventional vision for robot is so-called simultaneous localization and mapping (SLAM) technology, but this technology usually is used to take cognizance of macrostructure of environment. The objects in the scene are commonly treated as just landmarks and the detail 3D information are ignored. But our cognitive robot requires finding...
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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