Dimensionless Monocular SLAM
AbstractIt has recently been demonstrated that the fundamental computer vision problem of structure from motion with a single camera can be tackled using the sequential, probabilistic methodology of...
View ArticleDrift-Free Real-Time Sequential Mosaicing
AbstractWe present a sequential mosaicing algorithm for a calibrated rotating camera which can for the first time build drift-free, consistent spherical mosaics in real-time, automatically and...
View ArticleInverse Depth Parametrization
AbstractThis chapter presents a parametrization for point features within monocular SLAM which permits efficient and accurate representation of uncertainty during undelayed initialisation and beyond,...
View Article1-Point RANSAC
AbstractRandom Sample Consensus (RANSAC) has become one of the most successful techniques for robust estimation from a data set that may contain outliers. It works by constructing model hypotheses from...
View ArticlePoints at Infinity: Mosaics Using the Extended Kalman Filter
AbstractThis chapter introduces the use of zero-parallax points on filtering-based Structure from Motion (SfM) or monocular SLAM. A geometric model is proposed for the estimation of an accurate camera...
View ArticleConclusions
AbstractThis chapter presents the main conclusions and summarizes the content of the book. The algorithms, models and methods presented in the previous chapters cover the main topics in sequential SfM...
View ArticleDegenerate Camera Motions and Model Selection
AbstractThe assumption of a general camera motion –translation and rotation– between frames in an image sequence leads to inconsistent estimations when the camera performs more restricted motions, like...
View ArticleIntroduction
AbstractThe fully automated 3D estimation of a scene and the 6 degrees of freedom camera motion using as the only input the images taken by the camera has been a long term aim in the computer vision...
View ArticleSelf-calibration
AbstractComputer vision researchers have proved the feasibility of camera self-calibration –the estimation of a camera’s internal parameters from an image sequence without any known scene structure....
View ArticleImpact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines
AbstractThis paper explores the impact that landmark parametrization has in the performance of monocular, EKF-based, 6-DOF simultaneous localization and mapping (SLAM) in the context of undelayed...
View ArticleIncorporating scene priors to dense monocular mapping
AbstractThis paper presents a dense monocular mapping algorithm that improves the accuracy of the state-of-the-art variational and multiview stereo methods by incorporating scene priors into its...
View ArticleRGB-D Odometry and SLAM
AbstractThe emergence of modern RGB-D sensors had a significant impact in many application fields, including robotics, augmented reality (AR), and 3D scanning. They are low-cost, low-power, and...
View ArticleOn the Uncertain Single-View Depths in Colonoscopies
AbstractEstimating depth information from endoscopic images is a prerequisite for a wide set of AI-assisted technologies, such as accurate localization and measurement of tumors, or identification of...
View ArticleEndomapper dataset of complete calibrated endoscopy procedures
AbstractComputer-assisted systems are becoming broadly used in medicine. In endoscopy, most research focuses on the automatic detection of polyps or other pathologies, but localization and navigation...
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