Construction of 3-D Environment Model based on Automatic Baseline Determined Structure from Motion Constrained by Point and Line Features by Using Omnidirectional Camera

Parallel line-based structure from motion by using omnidirectional camera in textureless scene

In this paper, we propose a reconstruction method for a 3D structure using sequential omnidirectional images in an artificial environment. The proposed method is fundamentally categorized into the Structure from Motion (SfM) technique. The conventional point-based SfM using a standard camera is, however, likely to fail to recover a 3D structure in an artificial and textureless environment such ...

Three-Dimensional Environment Modeling Based on Structure from Motion with Point and Line Features by Using Omnidirectional Camera

Structure from Motion 3 Three-dimensional Environment Measurement and Modeling with Feature Point and Straight-line in Omnidirectional Image Sequence

Map information is important for path planning and self-localization when mobile robots execute autonomous tasks. In unknown environments, mobile robots should measure environments and construct their maps by themselves. Then, we propose a modeling method of three-dimensional environment. To realize wide-ranging environment measurement, we use an omnidirectional camera. Our method is based on s...

A Method for Reconstructing Structure from Omnidirectional View Sequence without Feature Matching

This paper describes a new method for directly reconstructing the 2D structure of an environment from image sequences taken by an omnidirectional camera moving on a straight line. By exploiting the characteristics of the omnidirectional images generated in an immersive way on both sides of the camera line, we synthesize a 3 0 visual representation of the environment. Slices of this volume direc...

Rotation Estimation of a Complete Omnidirectional Camera using Line Features

Rotation estimation with cameras is important for flying robot navigation. Usually, it is performed using a single camera by keeping track of some strong features such as corners or lines within the environment and observing their motion. However, with a normal camera, the field of view is quite limited and this can lead to an error because information is obtained from a small section of the sc...