From omnidirectional images to hierarchical localization

@article{Murillo2007FromOI,
  title={From omnidirectional images to hierarchical localization},
  author={Ana Cristina Murillo and Carlos Sag{\"u}{\'e}s and Josechu J. Guerrero and Toon Goedem{\'e} and Tinne Tuytelaars and Luc Van Gool},
  journal={Robotics and Autonomous Systems},
  year={2007},
  volume={55},
  pages={372-382}
}
7 In this paper we propose a new vision based method for robot localization using 8 an omnidirectional camera. Topological and metric localization information are effi9 ciently combined in a hierarchical process. Each step evaluates less images than the 10 previous but is more complex and accurate, what helps to deal with big reference 11 image sets. Compared to other similar vision-based localization methods, the one 12 proposed here has the advantage that it gets accurate metric localization… CONTINUE READING
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