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GRASP Special Seminar – Jean-Philippe Tardif, Carnegie Mellon University, “Recent Advances in Vision-Aided Inertial Navigation and Vanishing Point Detection”

July 30, 2010 @ 11:00 am - 12:00 pm

This seminar will consist of two parts.

In the first half, I will present a vision-aided navigation system currently in development at CMU. We combine a stereo visual odometry system with an aided inertial navigation filter to produce a precise and robust system that does not rely on external infrastructure. I will present accurate results from data acquired in rural and urban scenes on a tractor and a passenger car traveling distances of several kilometers.

In the second half, I will present a new approach for vanishing point and Manhattan directions estimation. Being a typical problem of multiple model estimation I will discuss the most common algorithms for this task and how they have been applied to vanishing point estimation. Furthermore, I will present an algorithm called J-Linkage recently introduced by Toldo and Fusiello. I will show that it is a very good choice for implementing a simple and efficient vanishing point detection algorithm. The most important strength of this approach is that it is able to rely on an error metric in the image rather than on the so-called Gaussian Sphere. The source code of the whole vanishing point detection pipeline is available online.


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Jean-Philippe Tardif is currently a post-doctoral fellow with the National Robotics Engineering Center at Carnegie Mellon University, under supervision of Prof. Tony Stentz. Previously, he was a post-doctoral fellow at McGill University and at the University of Pennsylvania. He received his Ph.D. in computer vision from Université de Montréal in 2007. Over the years, he has also collaborated with researchers from INRIA Rhône-Alpes and CNRS Clermont-Ferrand in France. His areas of research are structure from motion, visual odometry, omnidirectional camera calibration and self-calibration, structured light reconstruction and place recognition.


July 30, 2010
11:00 am - 12:00 pm
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