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In the context of pedestrian navigation, urban environment constitutes a challenging area for both localization and Augmented Reality (AR). In order to display 3D Geographic Information System (GIS) content in AR and to qualify them, we propose to fuse the pose estimated using vision thanks to a precisely known 3D urban furniture model with rotation estimated from inertial and magnetic measurements...
In this paper, we propose a wearable camera-based pose estimation of a user's head and shoulders. The proposed system is mounted on a user's chest and the camera looks upward to observe a user's head and shoulders region. The proposed method is based on histograms of orientated gradient (HoG) features and support vector regression (SVR). This paper shows the preliminary experimental results that demonstrate...
We present a framework for vision based localization for two or more multirotor aerial vehicles relative to each other. This collaborative localization technique is built upon a relative pose estimation strategy between two or more cameras with the capability of estimating accurate metric poses between each other even through fast motion and continually changing environments. Through synchronized...
Micro-quadrotor usually equips with lightweight sensors due to its limited payload. In this paper, an odometry estimation method based on 2D laser scanner and monocular vision is proposed to solve the pose estimation problem of micro-quadrotor flying robot in indoor environments. This method firstly detects and matches image features of current and previous frames to get all feature correspondences...
Marker detection is very important in marker-based augmented reality system. If the marker is not detected, objects can't be augmented. Our proposed algorithm enables the camera tracking even in the situation that the marker goes out of the sensing range or is hidden by an object. Our algorithm is relatively simple and, it can be quite helpful for various applications such as mobile or smart phones.
This paper describes an object tracking system using an autonomous micro air vehicle (MAV) and demonstrate its potential use for civilian purposes. The vision-based control system relies on a color and feature based vision algorithm for target detection and tracking, Kalman filters for relative pose estimation, and a nonlinear controller for MAV stabilization and guidance. The vision algorithm relies...
This paper describes a an SLAM algorithm for the navigation for an indoor autonomous mobile robot. The main emphasis of this paper is on the ability of line extraction. A recognition method based on straight line extraction is proposed for extracting the key features on the office ceiling, in an effort to estimate the pose of mobile robot. Random sample consensus (RANSAC) paradigm is used to group...
The knowledge of the pose and the orientation of mobile robot in its operating environment is of utmost importance for an autonomous robot. In this paper, we present a new robot localization method integrates distributed vision sensors with Monte Carlo localization (MCL) method. Firstly, an improved MCL method is used to estimates the posterior distribution of robot poses conditioned on sensor data...
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