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Outdoor delayed-state visually augmented odometry
dc.contributor.author | Ila, Viorela Simona |
dc.contributor.author | Andrade-Cetto, Juan |
dc.contributor.author | Sanfeliu Cortés, Alberto |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2009-03-13T09:31:20Z |
dc.date.available | 2009-03-13T09:31:20Z |
dc.date.created | 2007 |
dc.date.issued | 2007 |
dc.identifier.citation | Ila, Viorela; Andrade-Cetto, Juan; Sanfeliu, Alberto. "Outdoor delayed-state visually augmented odometry". A: 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Toulouse, França, 2007. s. n., 2007, p. 1-6. |
dc.identifier.uri | http://hdl.handle.net/2117/2749 |
dc.description.abstract | This 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.extent | p. 1-6 |
dc.language.iso | eng |
dc.publisher | s. n. |
dc.relation.ispartof | IFAC Symposium on Intelligent Autonomous Vehicles (IAV) |
dc.subject | Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Computer vision |
dc.subject.lcsh | Robots |
dc.subject.lcsh | Robotics |
dc.subject.other | visual odometry |
dc.subject.other | least squares pose estimation |
dc.subject.other | delayed-state SLAM |
dc.title | Outdoor delayed-state visually augmented odometry |
dc.type | Conference report |
dc.subject.lemac | Visió per ordinador |
dc.subject.lemac | Robots |
dc.subject.lemac | Robòtica |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.date.end | 2007-09-05 |
dc.date.start | 2007-09-03 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Pattern recognition::Computer vision |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.rights.access | Open Access |
dc.relation.projectidctt | J-0929 |
dc.relation.projectidctt | E-00938 |
local.personalitzacitacio | true |