Learn More
This paper considers the problem of 3D reconstruction from 2D points in one or more images and auxiliary information about the corresponding 3D features : alignments, coplanarities, ratios of lengths or symmetries are known. Our first contribution is a necessary and sufficient criterion that indicates whether a dataset, or subsets thereof, defines a rigid(More)
This dissertation presents a novel methodology for vision-based robot navigation. One of the key observations is that navigation systems should be designed through a holistic approach, encompassing aspects of sensor design, choice of adequate spatial representations with associated global localisation and local control schemes. We tackle a number of design(More)
We present a method for reconstruction of structured scenes from one or more views, in which the user provides image points and geometric knowledge -coplanarity, ratios of distances, anglesabout the corresponding 3D points. First, the geometric information is analyzed. Then vanishing points are estimated, from which camera calibration is obtained. Finally,(More)
We present a method for solving the first location problem using 2D laser and vision. Our observation is a two-dimensional laser scan together with its corresponding image. The observation is segmented into textured vertical planes; each vertical plane contains geometrical information about its location given by the laser scan, plus the gray level image(More)
  • 1