Panoramic Views

• Panoramic Representation

  • rich in information
  • compact

• Structure map

  • disparity map
  • isolate ground
  • segment
  • insert into structure map

Tsuji and Li’93

Environment

Sensors

Purpose

Outdoor

Navigation

Camera

• Compact views

• Only along a route

• Not incremental

• Does not handle odometry errors

Comments

Panoramic view

R

T

Map Geometry

image velocity

depth

Landmarks

Direction Distance

Qualitative Map

path

Panoramic Representation

Qualitative Representation

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