George Terzakis

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This paper intends to present and analyze all the necessary steps one needs to take in order to build a simple application for relative pose structure from motion using only the epipolar constraint. In other words, to illustrate in practice (i.e,, cook-book style) about how the most fundamental of concepts in epipolar geometry can be combined into a(More)
This paper presents the implementation of a framework for Simultaneous Localization and Mapping (SLAM) with a custom-made mobile robot equipped with a sonar ring of eight transducers using an occupancy grid representation of the explored terrain. The map is perceived as a 0-order Markov random field with three possible cell states (UNKNOWN, BLOCK, VOID).(More)
The problem of orientation parameterization for applications in computer vision and robotics is examined in detail herein. The necessary intuition and formulas are provided for direct practical use in any existing algorithm that seeks to minimize a cost function in an iterative fashion. Two distinct schemes of parameterization are analyzed: The first scheme(More)
This paper intends to present and analyze all the necessary steps one needs to take in order to build a simple application for structure from motion in practice using only the epipolar constraint. In other words, toillustratein practice (i.e,, cook-book style) about how the most fundamental of concepts in epipolar geometry can be combined into a complete(More)
We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with the environment, which are typically not present in standard visual simultaneous localization and mapping (SLAM)(More)
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