This work performs visual localisation using synthesised local orthographic imagery. We exploit state of the art stereo visual odometry (VO) on our survey vehicle to generate high precision synthetic orthographic images of the road surface as would be seen from overhead. The fidelity and detail of these images far exceeds that of aerial photographs. When [...]
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In this work, we are concerned with planning paths from overhead imagery. The novelty here lies in taking explicit account of uncertainty in terrain classification and spatial variation in terrain cost. The image is first classified using a multi-class Gaussian Process Classifier which provides probabilities of class membership at each location in the image, which is then combined [...]