Robotics and Computer Vision Lab

Publications

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저 자 Jean-Charles Bazin, C. Demoncreaux, P. Vasseur, In So Kweon
학 회 Computer Vision and Image Understanding
논문일시(Year) 2009
논문일시(Month) 12
Previous works have shown that catadioptric systems are particularly suited for
egomotion estimation thanks to their large field of view and thus numerous al-
gorithms have already been proposed in the literature to estimate the motion. In
this paper, we present a method for estimating six degrees of freedom camera mo-
tions from central catadioptric images in man-made environments. State-of-the-art
methods can obtain very impressive results. However our proposed system provides
two strong advantages over the existing methods: first, it can implicitly handle the
difficulty of planar/non-planar scenes, and second, it is computationally much less
expensive. The only assumption deals with the presence of parallel straight lines
which is reasonable in a man-made environment. More precisely, we estimate the
motion by decoupling the rotation and the translation. The rotation is computed
by an e±cient algorithm based on the detection of dominant bundles of parallel
catadioptric lines and the translation is calculated from a robust 2-point algorithm.
We also show that the line-based approach allows to estimate the absolute attitude
(roll and pitch angles) at each frame, without error accumulation. The efficiency
of our approach has been validated by experiments in both indoor and outdoor
environments and also by comparison with other existing methods.

List of Articles
185. Pose Estimation of Unmanned Aerial Vehicle by Catadioptric Vision
Jean-Charles Bazin, In So Kweon
the 13th IEEE Korea-Japan Joint Workshop on Frontiers of Computer Vision (FCV ‘07) 2007 / 02
184. UAV Attitude Estimation by Vanishing Points in Catadioptric Images
Jean-Charles Bazin, In So Kweon, Cedric Demonceaux, Pascal Vasseur
IEEE International Conference on Robotics and Automation (ICRA’08) 2008 / 05
183. [Book] Object Identification and Categorization with Visual Context
Sungho Kim, In So Kweon
KAIST 2008 / 05
182. Hierarchical Graphical Model-based Methods for Object Identification and Categorization with Visual Context
Sungho Kim
KAIST 2007 / 02
181. Metric reconstruction from images using rank-deficient relations
Jun-sik Kim
KAIST 2006 / 02
180. Robust Correspondence Search under Photometric Variations and Image Ambiguity
Kukjin Yoon
KAIST 2006 / 02
179. Catadioptric vision based localization and mapping for indoor mobile robot
Gijeong Jang
KAIST 2005 / 08
178. Appearance-cloning : Photo-consistent 3D modeling from multi-view images
Howon Kim
KAIST 2004 / 08
177. Shot Detection and Temporal Interest Point for Event-based Clustering and its Application to Golf Videos
Seunghoon Han
KAIST 2004 / 08
176. High-speed automatic edge detection using pixel group statistics and fuzzy-based automatic thresholding
Dongsu Kim
KAIST 2003 / 02
175. Image-based Visual Servoing for Linear Path Control
Jaeseung Cho
KAIST 2002 / 08
174. Chromatic invariant based image retrieval for three dimensional objects
Jiyeun Kim
KAIST 2002 / 02
173. Mobile robot navigation using fuzzy based sensor fusion
Wangheon Lee
KAIST 2001 / 08
172. Robust and direct estimation of camera motion and 3-D structure from stereo image sequence
Seongkee Park
KAIST 2000 / 08
171. A biprism stereo camera system
Doohyun Lee
KAIST 2000 / 08
170. Rectangle Extraction in Catadioptric Images
Jean-Charles Bazin, In So Kweon, Cedric Demonceaux, Pascal Vasseur
(OMNIVIS ‘07) in conjunction with ICCV’07 2007 / 10
169. Robust motion estimation and statistical change detection in image sequences under time-varying illumination
Youngsu Moon
KAIST 2000 / 08
168. 3D structure recovery and motion segmentation using uncalibrated cameras
Jongeun Ha
KAIST 2000 / 02
167. Optimization-based approaches in computer vision
Dongjoong Kang
KAIST 1999 / 02
166. A chromatic color constancy model for three dimensional objects based on human visual and illuminant perception
Changyeong Kim
KAIST 1998 / 08
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