Title :
Catadioptric Image-based Rendering for Mobile Robot Localization
Author :
Hynek Bakstein;Ales Leonardis
Author_Institution :
Center for Machine Perception, FEE, Czech Technical University, Prague, Karlovo n?m. 13, Prague, Czech Republic. bakstein@cmp.felk.cvut.cz
Abstract :
We present an approach to view-based mobile robot localization using a X-slits image based rendering (IBR) method for creating novel views from a set of input images. The input images are acquired by a non-central catadioptric sensor mounted on a robot moving on a straight line. We propose to use the IBR for column ordering only, where occlusions in the horizontal direction are modeled and the sensor can be non-central. For the column matching between a query view at an unknown position and virtual views created by IBR, we use correlation of columns.
Keywords :
"Rendering (computer graphics)","Mobile robots","Robot vision systems","Cameras","Layout","Robot sensing systems","Robot localization","Robustness","Employment","Laboratories"
Conference_Titel :
Computer Vision, 2007. ICCV 2007. IEEE 11th International Conference on
Print_ISBN :
978-1-4244-1630-1
Electronic_ISBN :
2380-7504
DOI :
10.1109/ICCV.2007.4409199
