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A new method for efficiently mapping three dimensional environments from a platform carrying a single calibrated camera, and simultaneously localizing the platform within this map is presented in this paper. This is the Monocular SLAM problem in robotics, which is equivalent to the problem of extracting Structure from Motion (SFM) in computer vision. A novel formulation of Monocular SLAM which exploits...
Omnidirectional cameras are a popular choice of visual sensors in robotics because their large field of view is well suited for motion estimation and obstacle avoidance. However their practical use is often burdened by the calibration phase that can be time consuming and require an experienced user. The contribution of this work is a simplification of calibration phase by providing a direct approach...
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