Panoramic volumes for robot localization

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Matej Artac, Matjaz Jogan, Ales Leonardis, Hynek Bakstein

Published: 2005, Last Modified: 19 Dec 2025IROS 2005EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: We propose a method for visual robot localization using a panoramic image volume as the representation from which we can generate views from virtual viewpoints and match them to the current view. We use a geometric image-based rendering formalism in combination with a subspace representation of images, which allows us to synthesize views at arbitrary virtual viewpoints from a compact low-dimensional representation.