Paper Info
Title
Distributed multi-camera visual mapping using topological maps of planar regions
Abstract
This paper presents a multi-agent solution for cooperative visual mapping using planar regions. Each agent is assumed to be equipped with a conventional camera and has limited communication capabilities. Our approach starts building topological maps from independent image sequences where natural landmarks extracted from conventional images are grouped to create a graph of planes. With this approach the features observed in several images belonging to the same planar region are stored only once, reducing the size of the individual maps. In a distributed scenario this is very important because smaller maps can be transmitted faster, which makes our approach better suited for cooperative mapping. The later fusion of the individual maps is obtained via distributed consensus without any initial information about the relations between the different maps. Experiments with real images in complex scenarios show the good performance of our proposal.
Year
DOI
Venue
2011
10.1016/j.patcog.2010.12.022
Pattern Recognition
Keywords
Field
DocType
conventional image,individual map,different map,independent image sequence,planar region,complex scenario,multi-camera visual mapping,cooperative visual mapping,distributed systems,computer vision,good performance,cooperative mapping,mapping,conventional camera,topological map,distributed consensus,distributed system
Consensus,Graph,Computer vision,Topology,Multi camera,Pattern recognition,Quasi-open map,Planar,Artificial intelligence,Real image,Image sequence,Mathematics
Journal
Volume
Issue
ISSN
44
7
Pattern Recognition
Citations 
PageRank 
References 
8
0.50
27
Authors
2
Name
Order
Citations
PageRank
Eduardo Montijano121422.27
Carlos Sagues2918.17