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MAV Navigation through Indoor Corridors Using Optical Flow
(2010)IEEE International Conference on Robotics and Automation (ICRA), 2010Conference Paper -
Closing the Loop in Appearance-Guided Structure-from-Motion for Omnidirectional Cameras
(2008)Conference Paper -
A Tale of Two Object Recognition Methods for Mobile Robots
(2008)Lecture Notes in Computer Science ~ Computer vision systems : 6th international conference : proceedingsConference Paper -
A Novel Parametrization of the Perspective-Three-Point Problem for a Direct Computation of Absolute Camera Position and Orientation
(2011)Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2011)Conference Paper -
SFly: Swarm of micro flying robots
(2012)2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)The SFly project is an EU-funded project, with the goal to create a swarm of autonomous vision controlled micro aerial vehicles. The mission in mind is that a swarm of MAV's autonomously maps out an unknown environment, computes optimal surveillance positions and places the MAV's there and then locates radio beacons in this environment. The scope of the work includes contributions on multiple different levels ranging from theoretical ...Conference Paper -
Real-time monocular visual odometry for on-road vehicles with 1-point RANSAC
(2009)2009 IEEE International Conference on Robotics and AutomationThis paper presents a system capable of recovering the trajectory of a vehicle from the video input of a single camera at a very high frame-rate. The overall frame-rate is limited only by the feature extraction process, as the outlier removal and the motion estimation steps take less than 1 millisecond with a normal laptop computer. The algorithm relies on a novel way of removing the outliers of the feature matching process.We show that ...Conference Paper -
A toolbox for easily calibrating omnidirectional cameras
(2006)2006 IEEE/RSJ International Conference on Intelligent Robots and SystemsIn this paper, we present a novel technique for calibrating central omnidirectional cameras. The proposed procedure is very fast and completely automatic, as the user is only asked to collect a few images of a checker board, and click on its corner points. In contrast with previous approaches, this technique does not use any specific model of the omnidirectional sensor. It only assumes that the imaging function can be described by a Taylor ...Conference Paper -
Correcting Vehicle Heading in Visual Odometry by Using Image Appearance
(2008)Proc. of The First International Workshop on Omnidirectional Robot VisionConference Paper -
Automatic Self-Calibration of a Vision System during Robot Motion
(2006)2006 IEEE International Conference on Robotics and AutomationConference Paper -
Automatic Detection of Checkerboards on Blurred and Distorted Images
(2008)2008 IEEE/RSJ International Conference on Intelligent Robots and Systems : [IROS 2008] ; Nice, France, 22 - 26 September 2008Conference Paper