Localization with omnidirectional images using the radial trifocal tensor
dc.contributor.author
Sagüés, Carlos
dc.contributor.author
Murillo, Ana C.
dc.contributor.author
Guerrero, Jose. J.
dc.contributor.author
Goedemé, Toon
dc.contributor.author
Tuytelaars, Tinne
dc.contributor.author
Van Gool, Luc
dc.date.accessioned
2024-02-09T08:38:06Z
dc.date.available
2017-06-09T16:46:41Z
dc.date.available
2024-02-09T08:37:32Z
dc.date.available
2024-02-09T08:38:06Z
dc.date.issued
2006
dc.identifier.isbn
0-7803-9505-0
en_US
dc.identifier.other
10.1109/ROBOT.2006.1641768
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/39896
dc.description.abstract
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 of robot and landmarks localization in SLAM algorithms
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.title
Localization with omnidirectional images using the radial trifocal tensor
en_US
dc.type
Conference Paper
dc.date.published
2006-06-26
ethz.book.title
2006 IEEE International Conference on Robotics and Automation
en_US
ethz.pages.start
551
en_US
ethz.pages.end
556
en_US
ethz.event
IEEE International Conference on Robotics and Automation (ICRA 2006)
en_US
ethz.event.location
Orlando, FL, USA
en_US
ethz.event.date
May 15-19, 2006
en_US
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02140 - Dep. Inf.technologie und Elektrotechnik / Dep. of Inform.Technol. Electrical Eng.::02652 - Institut für Bildverarbeitung / Computer Vision Laboratory::03514 - Van Gool, Luc / Van Gool, Luc
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02140 - Dep. Inf.technologie und Elektrotechnik / Dep. of Inform.Technol. Electrical Eng.::02652 - Institut für Bildverarbeitung / Computer Vision Laboratory::03514 - Van Gool, Luc / Van Gool, Luc
ethz.date.deposited
2017-06-09T16:47:03Z
ethz.source
ECIT
ethz.identifier.importid
imp59364e8c3146c45074
ethz.ecitpid
pub:66895
ethz.eth
no
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2017-07-18T10:19:02Z
ethz.rosetta.lastUpdated
2024-02-01T17:56:24Z
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true
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Conference Paper [34969]