Feature-based multi-hypothesis localization and tracking using geometric constraints.
Kai Oliver ArrasJosé A. CastellanosMartin SchiltRoland SiegwartPublished in: Robotics Auton. Syst. (2003)
Keyphrases
- geometric constraints
- object matching
- geometric properties
- accurate localization
- epipolar geometry
- geometric consistency
- camera calibration
- multiple moving objects
- multiple images
- feature correspondences
- object tracking
- kalman filter
- particle filter
- consistency constraints
- motion analysis
- visual hull
- image retrieval
- image analysis
- image features
- geometric information
- camera pose
- multiscale
- point correspondences
- motion model