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In this paper we describe a method that estimates the motion of a calibrated camera (settled on an experimental vehicle) and the tridimensional geometry of the environment. The only data used is a video input. In fact, interest points are tracked and matched between frames at video rate. Robust estimates of the camera motion are computed in real-time,(More)
This paper describes a method for estimating the motion of a calibrated camera and the three dimensional geometry of the filmed environment. The only data used is video input. Interest points are tracked and matched between frames at video rate. Robust estimates of the camera motion are computed in real-time, key frames are selected to enable 3D(More)
This paper describes a new vision based method for the Simultaneous Localization and Mapping of mobile robots. The only data used is a video input from a moving calibrated monocular camera. From the detection and matching of interest points in images at video rate, robust estimates of the camera poses are computed in real-time and a 3D map of the(More)
We introduce a generic and incremental Structure from Motion method. By generic, we mean that the proposed method is independent of any specific camera model. During the incremental 3D reconstruction, parameters of 3D points and camera poses are refined simultaneously by a generic local bundle adjustment that minimizes an angular error between rays. This(More)
— This paper introduces an incremental method for " Structure From Motion " of complex scenes from a video sequence. More precisely, we estimate the 3D positions of the viewed points in images and the camera positions and orientations through the sequence. The method can be seen as a fast but accurate alternative to classical reconstruction methods that use(More)
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