Scene Flow

Visual odometry scheme

 

Scene flow is the semi-dense or dense 3D motion field of a scene that moves completely of partially with respect to a camera.  

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Visual Odometry

Visual odometry scheme

 

Visual odometry (VO), also known as egomotion, is the process of estimating the trajectory of a camera within a rigid environment by analyzing a sequence of images.  

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Extrinsic sensor calibration

A scheme of all extrinsically calibrated sensors: cameras, laser rangefinders and RGB-D cameras

 

Extrinsic sensor calibration consists in the estimation of the relative transformation between different sensors. This is a key step for sensor fusion.

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Visual SLAM

Vision systems have acquired growing importance in mobile robotics during the last years due to their low cost and the rich information that cameras provide in comparison with traditional robotic sensors, like laser scanners or sonars. Vision-based systems are employed in a wide range of robotic applications such as object recognition, obstacle avoidance, navigation, topological global localization and, more recently, in simultaneous localization and mapping (SLAM), which has become a prominent research area in mobile robotics since the early 1990s.

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