Chained fusion of discrete and continuous epipolar geometry with odometry for long-term localization of mobile robots.
David TickJinglin ShenYinghua ZhangNicholas R. GansPublished in: CCA (2011)
Keyphrases
- epipolar geometry
- mobile robot
- map building
- long term
- simultaneous localization and mapping
- image pairs
- fundamental matrix
- point correspondences
- unknown environments
- feature points
- path planning
- uncalibrated images
- camera motion
- wide baseline
- geometric constraints
- autonomous navigation
- stereo rig
- autonomous robots
- multi robot
- multi sensor
- stereo imaging
- image correspondences
- epipolar lines
- apparent contours
- affine epipolar geometry
- single image
- image registration
- catadioptric stereo
- affine camera
- image features
- input image
- vision system
- multi view
- curved surfaces
- face recognition