Mobile robot self-localization based on tracked scale and rotation invariant feature points by using an omnidirectional camera.
Tsuyoshi TasakiSeiji TokuraTakafumi SonouraFumio OzakiNobuto MatsuhiraPublished in: IROS (2010)
Keyphrases
- feature points
- mobile robot
- image sequences
- image correspondences
- field of view
- pose estimation
- point correspondences
- feature matching
- epipolar geometry
- motion parameters
- affine transformation
- rotation invariant
- video sequences
- feature detectors
- optical flow
- point matching
- facial features
- camera motion
- object tracking
- three dimensional
- feature descriptors
- face images
- moving objects
- epipolar constraint
- flow field
- object recognition