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

Darius Burschka, Gregory Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 (US)
Title of host publicationProceedings of the 2004 International Workshop on Robot Sensing
Pages1-8
Number of pages8
StatePublished - 2004
EventProceedings of the 2004 International Workshop on Robot Sensing - Graz, Austria
Duration: May 24 2004May 25 2004

Other

OtherProceedings of the 2004 International Workshop on Robot Sensing
CountryAustria
CityGraz
Period5/24/045/25/04

Fingerprint

Navigation systems
Navigation
Image processing
Testbeds
Pipelines
Textures
Color
Processing

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Burschka, D., & Hager, G. (2004). Principles and practice of real-time visual tracking for Navigation and Mapping. In Proceedings of the 2004 International Workshop on Robot Sensing (pp. 1-8)

Principles and practice of real-time visual tracking for Navigation and Mapping. / Burschka, Darius; Hager, Gregory.

Proceedings of the 2004 International Workshop on Robot Sensing. 2004. p. 1-8.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Burschka, D & Hager, G 2004, Principles and practice of real-time visual tracking for Navigation and Mapping. in Proceedings of the 2004 International Workshop on Robot Sensing. pp. 1-8, Proceedings of the 2004 International Workshop on Robot Sensing, Graz, Austria, 5/24/04.
Burschka D, Hager G. Principles and practice of real-time visual tracking for Navigation and Mapping. In Proceedings of the 2004 International Workshop on Robot Sensing. 2004. p. 1-8
Burschka, Darius ; Hager, Gregory. / Principles and practice of real-time visual tracking for Navigation and Mapping. Proceedings of the 2004 International Workshop on Robot Sensing. 2004. pp. 1-8
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