1

Direct Multichannel Tracking
Direct Multichannel Tracking

We present direct multichannel tracking, an algorithm for tracking the pose of a monocular camera (visual odometry) using high-dimensional features in a direct image alignment framework.

May 25, 2017
GUMS: A Generalized Unified Model for Stereo Omnidirectional Vision (Demonstrated Via a Folded Catadioptric System)
GUMS: A Generalized Unified Model for Stereo Omnidirectional Vision (Demonstrated Via a Folded Catadioptric System)

GUMS is a complete projection model for omnidirectional stereo vision systems. GUMS is based on the existing generalized unified model (GUM), which we extend for fixed baseline sensors.

Oct 9, 2016
Autonomous Quadrotor Flight Using Onboard RGB-D Visual Odometry
Autonomous Quadrotor Flight Using Onboard RGB-D Visual Odometry

We present an on-board navigation system for Micro Aerial Vehicles (MAV) based on information provided by a visual odometry algorithm processing data from an RGB-D camera.

May 31, 2014
A 6-degree-of-freedom (6-DoF) pose localization method for a monocular camera in a 3D point-cloud dense map prebuilt by an RGB-D sensor.
A 6-degree-of-freedom (6-DoF) pose localization method for a monocular camera in a 3D point-cloud dense map prebuilt by an RGB-D sensor.

A 6-degree-of-freedom (6-DoF) pose localization method for a monocular camera in a 3D point-cloud dense map prebuilt by an RGB-D sensor.

Dec 12, 2013
A Single-Camera Omni-Stereo Vision System for 3D Perception of Micro Aerial Vehicles (MAVs)
A Single-Camera Omni-Stereo Vision System for 3D Perception of Micro Aerial Vehicles (MAVs)

We introduce a catadioptric single-camera omnistereo vision system that uses a pair of custom-designed mirrors (in a folded configuration) satisfying the single view point (SVP) property as a good solution to the perception challenge of MAVs.

Jun 19, 2013
Incremental Registration of RGB-D Images
Incremental Registration of RGB-D Images

We present a real-time technique for 6-DoF camera pose estimation through the incremental registration of RGB-D images.

May 14, 2012
Fusing Optical Flow and Stereo in a Spherical Depth Panorama Using a Single-Camera Folded Catadioptric Rig
Fusing Optical Flow and Stereo in a Spherical Depth Panorama Using a Single-Camera Folded Catadioptric Rig

We design a novel 'folded' spherical catadioptric rig (formed by two coaxially-aligned spherical mirrors of distinct radii and a single perspective camera) to recover near-spherical range panoramas.

May 9, 2011