of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to Structure from Motion approaches. The core of the approach is the online creation of a sparse but persistent map of natural landmarks within a probabilistic framework. Our key novel contributions include

Ego-motion estimation for an agile single camera moving through general, unknown scenes becomes a much more challenging problem when real-time performance is required rather than under the off-line processing conditions under which most successful structure from motion work has been achieved

Abstract: Capturing 3-D interaction in a non-intrusive and natural way presents some obstacles. A digital camera has some appealing attributes to overcome such problems despite the fact that pictures taken by a camera have no inherent depth information. Several computer vision techniques exist

We introduce a flexible projection framework that is capable of modeling a wide variety of linear, nonlinear, and hand-tailored artistic projections with a single camera. This framework introduces a unified geometry for all of these types of projections using the concept of a flexible viewing

This paper deals with the problem of driving the position of a point-robot to a goal point, using measurements provided by a single camera. The camera can be moved to compensate for the ambiguity in depth. It is shown that, although the system consisting of the point robot together with the moving

pair. A system is described to generates a stereo panoramic image using circular projections from images or video taken by a single rotating camera. The system works in real-time on a PC. It should be noted that the stereo images are created without computation of 3D structure, and the depth effects

Abstract — In this paper we present an active exploration strategy for a mobile robot navigating in 3D. The aim is to control a moving robot that autonomously builds a visual feature map while at the same time optimises its localisation in this map. The technique chooses the most appropriate commands maximising the information gain between prior states and measurements, while performing 6DOF bearingonly SLAM at video rate. Maximising the mutual information helps the vehicle avoid ill-conditioned measurements appropriate to bearing-only SLAM. To validate the approach, extensive simulations over rugged terrain have been performed. Moreover, experimental results are shown for the technique being tested with a synchro-drive mobile robot platform. Index Terms—Bearing only SLAM, Exploration. I.

In this paper, we present a framework for novel catadioptric stereo camera system that uses a single camera and a single lens with conic mirrors. Various possible designs of the catadioptric stereo system with single-viewpoint constraint have been developed in this framework. The proposed systems

The three-dimensional motion of humans is underdetermined when the observation is limited to a single camera, due to the inherent 3D ambiguity of 2D video. We present a system that reconstructs the 3D motion of human subjects from single-camera video, relying on prior knowledge about human motion

Abstract—A method for evaluating, at video rate, the quality of actions for a single camera while mapping unknown indoor environments is presented. The strategy maximizes mutual information between measurements and states to help the camera avoid making ill-conditioned measurements