Panoramic volumes for robot localization

  • Artač M
  • Jogan M
  • Leonardis A
 et al. 
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Abstract

We propose a method for visual robot localization using a panoramic image volume as the representation from which we can generate views from virtual viewpoints and match them to the current view. We use a geometric image-based rendering formalism in combination with a subspace representation of images, which allows us to synthesize views at arbitrary virtual viewpoints from a compact low-dimensional representation.

Author-supplied keywords

  • Mobile robots
  • Panoramic images
  • Subspace representation
  • Visual localization

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Authors

  • Matej Artač

  • Matjaž Jogan

  • Aleš Leonardis

  • Hynek Bakstein

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