Pose Estimation from Uncertain Omnidirectional Image Data Using Line-Plane Correspondences

Abstract. Omnidirectional vision is highly beneficial for robot navigation. We present a novel perspective pose estimation for omnidirectional vision involving a parabolic central catadioptric sensor using line-plane correspondences. We incorporate an appropriate and approved stochastic method to deal with uncertainties in the data.

• Type: Conference
• Year: 2006
• Where: DAGM
• Authors: Christian Gebken, Antti Tolvanen, Gerald Sommer
• Keywords: Central Catadioptric Sensor, DAGM 2006, Image Processing, Omnidirectional Vision, Perspective Pose Estimation