Localization in indoor environments by querying omnidirectional visual maps using perspective images.
Miguel LourençoVitor PedroJoão Pedro BarretoPublished in: ICRA (2012)
Keyphrases
- perspective images
- indoor environments
- indoor localization
- mobile robot
- omnidirectional images
- topological map
- simultaneous localization and mapping
- line segments
- epipolar geometry
- robotic systems
- camera calibration
- path planning
- point correspondences
- scale factor
- real time
- intrinsic parameters
- linear subspace
- line correspondences
- autonomous navigation
- computer vision