Visual Homing: Surfing on the Epipoles

We antroduce a novel method for vasual homang. Usang thas method a robot can be sent to desared posataons and oraentataons an 3-0space specafied by sangle amages taken from these posafzons. Our method determanes the path of the robot on-lane The startzng posataon of the robot as not constrazned, and a 3-0 model of the envaronment a s not requared. The method as based on recoverang the epapolar geometry relatang fhe current amage taken by the robot and the target amage. Usang ihe epapolar geometry, most of the pnrameters whzch specafy the dafferences in posataon and oraentataon of the camera between the two amages are recovered. However, sance not all of the parameters ran be recovered from two amages, we hace developed specafic methods to bypass these massang parameters and resolve the ambaguztaes that ezast We present two homang algorathms for two standard projectaon models, weak and full perspectave. We have performed samulataons and real experaments whach demonstrate the robustness...

• Type: Conference
• Year: 1998
• Where: ICCV
• Authors: Ronen Basri, Ehud Rivlin, Ilan Shimshoni
• Keywords: Computer Vision, Epapolar Geometry, Geometry Relatang Fhe, ICCV 1998, Ihe Epapolar Geometry, On-lane The Startzng, Target Pose