REALTIME LOCALIZATION OF A CENTRAL CATADIOPTRIC CAMERA USING VERTICAL LINES

Bertrand Vandeportaele, Michel Cattoen, Philippe Marthon

2006

Abstract

Catadioptric sensors are used in mobile robot localization because of their panoramic field of view. However most of the existing systems require a constant orientation of the camera and a planar motion, and thus the localization cannot be achieved in general for persons handling a camera. In this paper, we use the images of the vertical lines of indoor environment to localize in realtime the central catadioptric camera orientation and the 2D position. The pose detection is done in two steps. First, a two axes absolute rotation is computed to bring the vertical line images in vertical position on the viewing sphere. Then the 2D pose is estimated using a 2D map of the site.

References

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Paper Citation


in Harvard Style

Vandeportaele B., Cattoen M. and Marthon P. (2006). REALTIME LOCALIZATION OF A CENTRAL CATADIOPTRIC CAMERA USING VERTICAL LINES . In Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, ISBN 972-8865-40-6, pages 416-421. DOI: 10.5220/0001370304160421


in Bibtex Style

@conference{visapp06,
author={Bertrand Vandeportaele and Michel Cattoen and Philippe Marthon},
title={REALTIME LOCALIZATION OF A CENTRAL CATADIOPTRIC CAMERA USING VERTICAL LINES},
booktitle={Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,},
year={2006},
pages={416-421},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001370304160421},
isbn={972-8865-40-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,
TI - REALTIME LOCALIZATION OF A CENTRAL CATADIOPTRIC CAMERA USING VERTICAL LINES
SN - 972-8865-40-6
AU - Vandeportaele B.
AU - Cattoen M.
AU - Marthon P.
PY - 2006
SP - 416
EP - 421
DO - 10.5220/0001370304160421