Concept

Visual odometry

Related publications (104)

Super-resolved position and orientation of fluorescent dipoles

Michaël Unser, Theo Lasser, Iwan Märki, François Aguet, Stefan Geissbühler

We introduce an efficient, image formation model-based algorithm that extends super-resolution fluorescence localization to include orientation estimation, and report experimental accuracies of 5 nanometers for position estimation and 2 degrees for dipole ...

SPIE2009

Feature-based SLAM using relative quantities and structural knowledge

This thesis is about feature-based mobile robot navigation in unknown environments. The work is focusing on solving the problem of Simultaneous Localization and Mapping (SLAM) including feature extraction, estimation and complete map building solution. The ...

EPFL2008

Visual feature analysis for audio-visual speech recognition

Ivana Arsic de Heras Ciechomska

Humans perceive their surrounding environment in a multimodal manner by using multi-sensory inputs combined in a coordinated way. Various studies in psychology and cognitive science indicate the multimodal nature of human speech production and perception. ...

EPFL2008

Geometry-Based Distributed Scene Representation With Omnidirectional Vision Sensors

Pascal Frossard, Ivana Tosic

This paper addresses the problem of efficient representation of scenes captured by distributed omnidirectional vision sensors. We propose a novel geometric model to describe the correlation between different views of a 3-D scene. We first approximate the c ...

2008

A Stochastic Model for Video and its Information Rates

Martin Vetterli, Minh Do

We propose a stochastic model for video and compute its information rates. The model has two sources of information representing ensembles of camera motion and visual scene data (i.e. "realities"). The sources of information are combined generating a vecto ...

2007

A Forward Model of Optic Flow for Detecting External Forces

Leonidas Georgopoulos

Robot positioning is an important function of autonomous intelligent robots. However, the application of external forces to a robot can disrupt its normal operation and cause localisation errors. We present a novel approach for detecting external disturban ...

IEEE/RSJ2007

Theoretical Results on On-line Sensor Self-Calibration

Roland Siegwart, Jan Weingarten

In this paper we derive theoretical results for the problem of on-line sensor calibration for a mobile robot. We consider the case of the odometry sensor. A first series of results regards the problem of understanding if a given system (consisting of a rob ...

2006

Robot Navigation by Panoramic Vision and Attention Guided Features

Roland Siegwart, Heinz Hügli, Adriana Tapus, Alexandre Bur

In visual-based robot navigation, panoramic vision emerges as a very attractive candidate for solving the localization task. Unfortunately, current systems rely on specific feature selection processes that do not cover the requirements of general purpose r ...

2006

Automatic Self-Calibration of a Vision System during Robot Motion

Roland Siegwart, Davide Scaramuzza

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

2006

3D Position Tracking in Challenging Terrain

Roland Siegwart, Pierre Lamon

The intent of this paper is to show how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. An appropriate locomotion concept endowed with a controller min- imizing slip improves the ...

2005

Graph Chatbot

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.