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dc.contributor.authorIlla, Viorela Simona
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.authorSanfeliu Cortés, Alberto
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2020-06-23T07:39:39Z
dc.date.available2020-06-23T07:39:39Z
dc.date.issued2007
dc.identifier.citationIlla, V.; Andrade-Cetto, J.; Sanfeliu, A. Outdoor delayed-state visually augmented odometry. A: IFAC/EURON Symposium on Intelligent Autonomous Vehicles. "Proceedings of the 6th IFAC/EURON Symposium on Intelligent Autonomous Vehicles". IFAC, 2007, p. 548-553.
dc.identifier.isbnCD_ROM
dc.identifier.urihttp://hdl.handle.net/2117/191344
dc.description.abstractThis paper presents an efficient approach to outdoor visually augmented odometry. The technique computes relative pose constraints via a robust least squares minimisation of 3D point correspondences, which are in turn obtained from the matching of SIFT features over two consecutive image pairs. Pose constraints are then used to build a history of pose estimates with and incremental delayed-state information filter. The efficiency of the approach resides on the exact sparseness of the delayed-state information form used.
dc.format.extent6 p.
dc.language.isoeng
dc.publisherIFAC
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherVisual odometry
dc.subject.otherLeast squares pose estimation
dc.subject.otherDelayed-state SLAM
dc.titleOutdoor delayed-state visually augmented odometry
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.identifier.doi10.3182/20070903-3-FR-2921.00093
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Pattern recognition::Computer vision
dc.relation.publisherversionhttps://www.sciencedirect.com/science/article/pii/S1474667016347188?via%3Dihub
dc.rights.accessOpen Access
local.identifier.drac27655942
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/IST-FP6-STREP-045062
dc.relation.projectidinfo:eu-repo/grantAgreement/CICYT/NAVROB/DPI-2004-05414
dc.relation.projectidcicyt
local.citation.authorIlla, V.; Andrade-Cetto, J.; Sanfeliu, A.
local.citation.contributorIFAC/EURON Symposium on Intelligent Autonomous Vehicles
local.citation.publicationNameProceedings of the 6th IFAC/EURON Symposium on Intelligent Autonomous Vehicles
local.citation.startingPage548
local.citation.endingPage553


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Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain