This work is about extending the reach and endurance of outdoor localisation using stereo vision. At the heart of the localisation is the fundamental task of discovering feature correspondences between recorded and live images. One aspect of this problem involves deciding where to look for correspondences in an image and the second is deciding what to look for. This latter point, which is the main focus of this work, requires understanding how and why the appearance of visual features can change over time. In particular, such knowledge allows us to better deal with abrupt and challenging changes in lighting. We show how by instantiating a parallel image processing stream which operates on illumination-invariant images, we can substantially improve the performance of an outdoor visual navigation system.



 

  • [PDF] C. McManus, W. Churchill, W. Maddern, A. Stewart, and P. Newman, “Shady Dealings: Robust, Long- Term Visual Localisation using Illumination Invariance,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
    [Bibtex]

    @inproceedings{McManusICRA2014,
    Address = {Hong Kong, China},
    Author = {Colin McManus and Winston Churchill and Will Maddern and Alex Stewart and Paul Newman},
    Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    Date-Added = {2014-02-12 18:44:35 +0000},
    Date-Modified = {2014-02-12 18:51:19 +0000},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014ICRA_McManus.pdf},
    Title = {Shady Dealings: Robust, Long- Term Visual Localisation using Illumination Invariance},
    Year = {2014}}