PASCAL - Pattern Analysis, Statistical Modelling and Computational Learning

Localization with omnidirectional images using the radial trifocal tensor
C. Sagues, A. Murillo, J. Guerrero, T. Goedeme, Tinne Tuytelaars, Luc Van Gool and Luc Van Gool
In: IEEE international conference on robotics and automation - ICRA 2006, 15-19 May 2006, Orlando, USA.


In this paper we present a technique to linearly recover 2D structure and motion in man made environments from three uncalibrated omnidirectional views. We use vertical lines from the scene which are projected as radial lines in the images and are automatically matched. The algorithm is based on a 1D radial trifocal tensor which encodes the relations of the three views and the projected lines. We include experiments with real images, which demonstrate the good performance of the method and its application to robotic tasks, such as robot localization based in a database of reference images or to obtain the initial values

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EPrint Type:Conference or Workshop Item (Paper)
Project Keyword:Project Keyword UNSPECIFIED
Subjects:Machine Vision
ID Code:3629
Deposited By:Luc Van Gool
Deposited On:14 February 2008