Localisation using the appearance of prior structure
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Summary
This thesis develops a new approach to localisation using monocular cameras by leveraging a coloured 3D pointcloud prior of the environment, captured previously by a survey vehicle, and demonstrates the robustness of the localisation formulation to illumination changes, occlusions and colourspace transformations.
- Published
- 2014-01-01
- Cited by
- 13
- References
- 108
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:61490421
References
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- View-based Maps
- Shady dealings: Robust, long-term visual localisation using illumination invariance
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- Gaussian Process Gauss–Newton for non-parametric simultaneous localization and mapping
Cited by
- Learning place-dependant features for long-term vision-based localisation
- Robust Direct Visual Localisation using Normalised Information Distance
- Robust direct visual odometry using mutual information
- NID-SLAM: Robust Monocular SLAM Using Normalised Information Distance
- Battlespace Awareness: Heterogeneous Sensor Maps of Large Scale, Complex Environments
- Stereo Camera Localization in 3D LiDAR Maps
- Robust Pose Estimation Based on Normalized Information Distance
- General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox
- Automatic Extrinsic Calibration of a Camera and a 2D LiDAR With Point-Line Correspondences
- Fine Registration of Low-Resolution Infrared Camera and Low-Beam LiDAR
- 360Loc: A Dataset and Benchmark for Omnidirectional Visual Localization with Cross-Device Queries
- Direct, Targetless and Automatic Joint Calibration of LiDAR-Camera Intrinsic and Extrinsic
- BOR ^2 2 G: Building Optimal Regularised Reconstructions with GPUs (in Cubes)
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