Title :
Panoramic volumes for robot localization
Author :
Artac, Matej ; Jogan, Matjaz ; Leonardis, Ales ; Bakstein, Hynek
Author_Institution :
Fac. of Comput. & Inf. Sci., Ljubljana Univ., Slovenia
Abstract :
We propose a method for visual robot localization using a panoramic image volume as the representation from which we can generate views from virtual viewpoints and match them to the current view. We use a geometric image-based rendering formalism in combination with a subspace representation of images, which allows us to synthesize views at arbitrary virtual viewpoints from a compact low-dimensional representation.
Keywords :
image representation; mobile robots; rendering (computer graphics); robot vision; stereo image processing; geometric image-based rendering; image representation; mobile robots; panoramic image volume; subspace representation; virtual viewpoint; visual robot localization; Cameras; Computer vision; Cybernetics; Image storage; Information science; Mobile robots; Rendering (computer graphics); Robot localization; Robot vision systems; Solid modeling; mobile robots; panoramic images; subspace representation; visual localization;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545557
