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This paper presents a method of 3D localization using image edge-points detected from binocular stereo image sequences. The proposed method calculates camera poses using visual odometry, and updates the poses by reducing the accumulated errors using landmark recognition. Landmark recognition is done based on robust and scalable image-retrieval using image edge-points with SIFT descriptors and a vocabulary...
We present a head-mounted, stereo-vision based navigational assistance device for the visually impaired. The head-mounted design enables our subjects to stand and scan the scene for integrating wide-field information, compared to shoulder or waist-mounted designs in literature which require body rotations. In order to extract and maintain orientation information for creating a sense of egocentricity...
One of the main drawbacks of standard visual EKF-SLAM techniques is the assumption of a general camera motion model. Usually this motion model has been implemented in the literature as a constant linear and angular velocity model. Because of this, most approaches cannot deal with sudden camera movements, causing them to lose accurate camera pose and leading to a corrupted 3D scene map. In this work...
Within the research on Micro Aerial Vehicles (MAVs), the field on flight control and autonomous mission execution is one of the most active. A crucial point is the localization of the vehicle, which is especially difficult in unknown, GPS-denied environments. This paper presents a novel vision based approach, where the vehicle is localized using a downward looking monocular camera. A state-of-the-art...
We introduce a method for fast and accurate registration of multiple horizontal laser scans obtained by a mobile robot. The method is based on novel representation of the scene geometry called a latent map, which consists of a set of piecewise linear functions defined over a spatial grid covering the scene. The latent map representation is designed to handle the noise, outliers and limited spatial...
The high performance mobile robots nowadays should operate themselves in many applications. One attractive task is to build the map, meanwhile estimate their poses for the locomotion in real time. The simultaneous localization and mapping (SLAM) technique is once technique which can solve this demand. The selecting sensors are essential factors for generation the high accuracy output. This paper present,...
This paper describes a vision-based interface for instructing robot motion easily. An interface that makes the robot move in the same way as user's motion is effective for an intuitive motion instruction. Such an interface can be realized by estimating the pose (position and orientation) of the interface and executing move commands for making the robot take the same pose.We estimate the pose of the...
This paper introduces a stereoscopic fibroscope imaging system for minimally invasive surgery (MIS) and examines the feasibility of utilizing images transmitted from the distal fibroscope tip to a proximally mounted CCD camera to recover both camera motion and 3D scene information. Fibre image guides facilitate instrument miniaturization and have the advantage of being more easily integrated with...
A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association...
In a multi-robot system, in which each of the robots constructs its own local map, it is necessary to perform the fusion of these maps into a global one. This task is normally performed in two different steps: by aligning the maps and then merging the data. This paper focusses on the first step: Map Alignment, which consists in obtaining the transformation between the local maps built independently...
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