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In this paper, we present a flexible new technique for single viewpoint omnidirectional camera calibration. The proposed method only requires the camera to observe a planar pattern shown at a few different ori-entations. Either the camera or the planar pattern can be freely moved. No a priori knowledge of the motion is required, nor a specific model of the(More)
— We propose a semi-direct monocular visual odom-etry algorithm that is precise, robust, and faster than current state-of-the-art methods. The semi-direct approach eliminates the need of costly feature extraction and robust matching techniques for motion estimation. Our algorithm operates directly on pixel intensities, which results in subpixel precision at(More)
In this paper, we present a novel technique for calibrating central omnidirectional cameras. The proposed procedure is very fast and completely automatic, as the user is only asked to collect a few images of a checker board, and click on its corner points. In contrast with previous approaches, this technique does not use any specific model of the(More)
Autonomous micro aerial vehicles (MAVs) will soon play a major role in tasks such as search and rescue, environment monitoring, surveillance, and inspection. They allow us to easily access environments to which no humans or other vehicles can get access. This reduces the risk for both the people and the environment. For the above applications, it is,(More)
The fusion of inertial and visual data is widely used to improve an object's pose estimation. However, this type of fusion is rarely used to estimate further unknowns in the visual framework. In this paper we present and compare two different approaches to estimate the unknown scale parameter in a monocular SLAM framework. Directly linked to the scale is(More)
— This paper presents a system capable of recovering the trajectory of a vehicle from the video input of a single camera at a very high frame-rate. The overall frame-rate is limited only by the feature extraction process, as the outlier removal and the motion estimation steps take less than 1 millisecond with a normal laptop computer. The algorithm relies(More)
—In this paper, we describe a real-time algorithm for computing the ego-motion of a vehicle relative to the road. The algorithm uses as input only those images provided by a single om-nidirectional camera mounted on the roof of the vehicle. The front ends of the system are two different trackers. The first one is a homography-based tracker that detects and(More)
The Perspective-Three-Point (P3P) problem aims at determining the position and orientation of the camera in the world reference frame from three 2D-3D point correspondences. This problem is known to provide up to four solutions that can then be disambiguated using a fourth point. All existing solutions attempt to first solve for the position of the points(More)