<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="6.x">Drupal-Biblio</source-app><ref-type>47</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">Daniel Pizarro</style></author><author><style face="normal" font="default" size="100%">Manuel Mazo</style></author><author><style face="normal" font="default" size="100%">Enrique Santiso</style></author><author><style face="normal" font="default" size="100%">Hashimoto, Hideki</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">Mobile Robot Geometry Initialization from Single Camera</style></title><secondary-title><style face="normal" font="default" size="100%">6th International Conference on Field and Service Robotics - FSR 2007 Field and Service Robotics Springer Tracts in Advanced Robotics</style></secondary-title><tertiary-title><style face="normal" font="default" size="100%">{S}pringer {T}racts in {A}dvanced {R}obotics</style></tertiary-title></titles><dates><year><style  face="normal" font="default" size="100%">2007</style></year><pub-dates><date><style  face="normal" font="default" size="100%">12/2007</style></date></pub-dates></dates><urls><web-urls><url><style face="normal" font="default" size="100%">http://hal.inria.fr/inria-00198431/en/</style></url></web-urls></urls><publisher><style face="normal" font="default" size="100%">Springer</style></publisher><pub-location><style face="normal" font="default" size="100%">Chamonix France</style></pub-location><volume><style face="normal" font="default" size="100%">42</style></volume><pages><style face="normal" font="default" size="100%">10</style></pages><language><style face="normal" font="default" size="100%">English</style></language><abstract><style face="normal" font="default" size="100%">&lt;p&gt;{U}sing external cameras to achieve robot localization has been widely proposed in the area of {I}ntelligent {S}paces. {R}ecently, an online approach that simultaneously obtains robot&amp;rsquo;s pose and its 3{D} structure using a single external camera has been developed [8]. {S}uch proposal relies on a proper initialization of pose and structure information of the robot. {T}he present paper proposes a solution to initialization which consists of retrieving 3{D} structure and motion of a rigid object from a set of point matches measured by the camera. {A} batch {S}tructure from {M}otion ({SFM}) approach is proposed along a short path. {B}y incorporating odometry information available in the robot, the ambiguity generated by a single view in the solution is solved. {W}e propose to describe robot&amp;rsquo;s motion and image detection as statistical processes in which the uncertainty is properly modelled. {U}sing a {G}aussian equivalence of the processes involved, the {SFM} cost function is expressed as a {M}aximum {L}ikelihood optimization. {T}he paper shows the improvements of the approach in the presence of the usual odometry drift noise, compared with those using {E}uclidean distance as a likelihood. {T}he proposed method is assessed on synthetic and real data.&lt;/p&gt;</style></abstract><notes><style face="normal" font="default" size="100%">&lt;p&gt;{I}.: {C}omputing {M}ethodologies/{I}.2: {ARTIFICIAL} {INTELLIGENCE}/{I}.2.9: {R}obotics&lt;/p&gt;</style></notes></record></records></xml>