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Localization with omnidirectional images using the radial trifocal tensor
(2006)2006 IEEE International Conference on Robotics and AutomationIn 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 ...Conference Paper