A man-made environment is characterized by many parallel lines and orthogonal edges. In this article, a new method for detecting the three mutually orthogonal directions of such a...
The capability of maintaining the pose of the mobile robot is central for basic navigation and map building tasks. In this paper we describe a vision-based hybrid localization sch...
This paper presents a general solution to the determination of the pose of a perspective camera with unknown focal length from images of four 3D reference points. Our problem is a...
We investigate the problem of finding the metric structure of a general 3D scene viewed by a moving camera with square pixels and constant unknown focal length. While the problem ...
This paper presents a solution to the problem of pose estimation
in the presence of heavy radial distortion and a potentially
large number of outliers. The main contribution is
...