Principles and practice of real-time visual tracking for Navigation and Mapping

Darius Burschka, Gregory D. Hager

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2004 International Workshop on Robot Sensing
Pages1-8
Number of pages8
StatePublished - 2004
Externally publishedYes
EventProceedings of the 2004 International Workshop on Robot Sensing - Graz, Austria
Duration: 24 May 200425 May 2004

Publication series

NameProceedings of the 2004 International Workshop on Robot Sensing

Conference

ConferenceProceedings of the 2004 International Workshop on Robot Sensing
Country/TerritoryAustria
CityGraz
Period24/05/0425/05/04

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