TY - GEN
T1 - Principles and practice of real-time visual tracking for Navigation and Mapping
AU - Burschka, Darius
AU - Hager, Gregory D.
PY - 2004
Y1 - 2004
N2 - We present examples of real-time mobile navigation systems and approaches to vision-based Simultaneous Navigation and Mapping (SLAM) based on the second generation of our image processing library, XVision [11]. Although the application field of XVision is not limited to mobile navigation, the real-time requirements and limited computational resources on mobile systems provide a good testbed for it. We discuss the general architecture of the library and its modular processing pipeline, and we show how multiple tracking and low-level image processing primitives for color, texture and disparity can be combined to produce vision-guided navigation systems. The applications we discuss make use of XVision capabilities to solve the temporal correspondence problem by tracking an image feature in a given image domain.
AB - We present examples of real-time mobile navigation systems and approaches to vision-based Simultaneous Navigation and Mapping (SLAM) based on the second generation of our image processing library, XVision [11]. Although the application field of XVision is not limited to mobile navigation, the real-time requirements and limited computational resources on mobile systems provide a good testbed for it. We discuss the general architecture of the library and its modular processing pipeline, and we show how multiple tracking and low-level image processing primitives for color, texture and disparity can be combined to produce vision-guided navigation systems. The applications we discuss make use of XVision capabilities to solve the temporal correspondence problem by tracking an image feature in a given image domain.
UR - http://www.scopus.com/inward/record.url?scp=6344285737&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:6344285737
SN - 078038296X
T3 - Proceedings of the 2004 International Workshop on Robot Sensing
SP - 1
EP - 8
BT - Proceedings of the 2004 International Workshop on Robot Sensing
T2 - Proceedings of the 2004 International Workshop on Robot Sensing
Y2 - 24 May 2004 through 25 May 2004
ER -