Visually Realistic Mapping of a Planar Environment with Stereo

  title={Visually Realistic Mapping of a Planar Environment with Stereo},
  author={Luca Iocchi and Kurt Konolige and Max Bajracharya},
We present a hybrid technique for constructing geometrically accurate, visually realistic planar environments from stereo vision information. The technique is unique in estimating camera motion from two sources: range information from stereo, and visual alignment of images. 1. Mapping and Mobile Robots Recent techniques in mapping using single-plane laser rangefinders on mobile robots have proven very successful in indoor environments [1,2,3,4,5]. These techniques match range scans to build up… CONTINUE READING
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Hough Transform based localization for mobile robots

L. Iocchi, D. Nardi
Advances in Intelligent Systems and Computer Science, World Scientific Engineering Society, • 1999
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