Accurate localization of a vehicle is a fundamental challenge and one of the most important
tasks of mobile robots. For autonomous navigation, motion tracking, and obstacle detection …

Vision-based localization systems, namely visual odometry (VO) and visual inertial odometry
(VIO), have attracted great attention recently. They are regarded as critical modules for …

The development of a navigation system is one of the major challenges in building a fully
autonomous platform. Full autonomy requires a dependable navigation capability not only in …

Feature matching is a key technique for a wide variety of computer vision and image
processing applications such as visual localization. It permits finding correspondences of …

In this paper we tackle the problem of indoor robot localization by using a vision-based
approach. Specifically, we propose a visual odometer able to give back the relative pose of …

This work presents an improved visual odometry using omnidirectional images. The main
purpose is to generate a reliable prior input which enhances the SLAM (Simultaneous …

Abstract SLAM (Simultaneous Localization and Mapping) under severe occlusions in
crowded environments poses challenges both from the standpoint of the sensor and the …

Robots require a certain set of skills to perceive and analyse the environment and act
accordingly. For tracked mobile robots getting good odometry data from sensory information …

This paper proposes a new method to estimate the 3D motion of a vehicle based on car-like
structured motion model using an omnidirectional camera and a laser rangefinder. In recent …

Abstract Monocular Simultaneous Landing and Mapping (SLAM), Visual Odometry (VO),
and Structure from Motion (SFM) are techniques that have emerged recently to address the …