Harbor Monitoring Technique using Omni-directional Camera

Simultaneous Localization and Mapping using an Omni-Directional Camera

The ability of a robot to determine its position while at the same time creating a map of a previously unknown environment (also termed SLAM) is an important step towards autonomy in mobile robotics. One well-known approach consists of estimating the robot position and orientation, as well as the map comprised of the positions of landmarks in the environment, using an Extended Kalman Filter (EK...

Global Localization of Mobile Robot using an Omni-Directional Camera

In this paper, we propose a method for global localization using an omni-directional camera. A robot position and angle are estimated by correlation coefficient between topological node-map images and input images. Near-node has the largest correlation coefficient in topological map images. The calculated correlation coefficient makes the mixtures of Gaussians density map. The highest value of ...

Real-Time Motion Tracking System using Omni-Directional PTZ Camera

Light field rendering with omni-directional camera

This paper presents an approach to capture visual appearance of a real environment such as an interior of a room. We propose the method for generating arbitrary viewpoint images by building light eld with the omni-directional camera, which can capture the wide circumferences. Omni-directional camera used in this technique is a special camera with the hyperbolic mirror in the upper part of a cam...

Recovering Camera Pose from Omni-directional Images

Omni-directional images are widely used in image-based walkthrough applications, in which camera pose recovery is one of the initial and important processes. Existing methods may recover camera pose of omnidirectional images from lines. However, it may not work well when there is insufficient scene structure in the images. In addition, existing methods involve non-linear optimization and iterat...