Zuzanna Domagała - Academia.edu (original) (raw)

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Papers by Zuzanna Domagała

Research paper thumbnail of Comparative assessment of point feature detectors in the context of robot navigation

This paper presents evaluation of various contemporary interest point detector and descriptor pai... more This paper presents evaluation of various contemporary interest point detector and descriptor pairs in the context of robot navigation. The robustness of the detectors and descriptors is assessed using publicly available datasets: the first gathered from the camera mounted on the industrial robot and the second gathered from the mobile robot . The most efficient detectors and descriptors for the visual robot navigation are selected.

Research paper thumbnail of ON AUGMENTING THE VISUAL SLAM WITH DIRECT ORIENTATION MEASUREMENT USING THE 5-POINT ALGORITHM

Research paper thumbnail of The registration system for the evaluation of indoor visual slam and odometry algorithms

This paper presents the new benchmark data registraon system aimed at facilita ng the development... more This paper presents the new benchmark data registraon system aimed at facilita ng the development and evalua on of the visual odometry and SLAM algorithms. The WiFiBOT LAB V3 wheeled robot equipped with three cameras, XSENS MTi a tude and heading reference system (AHRS) and Hall encoders can be used to gather data in indoor explora on scenarios. The ground truth trajectory of the robot is obtained using the visual mo on tracking system. Addi onal sta c cameras simula ng the surveillance network, as well as ar ficial markers augmen ng the naviga on are incorporated in the system. The datasets registered with the presented system will be freely available for research purposes.

Research paper thumbnail of The comparison of point feature detectors and descriptors in the context of robot navigation

Research paper thumbnail of Visual Simultaneous Localization and Mapping Employing Active Infrared Lighting

Advanced Science Letters, 2012

Research paper thumbnail of Calibration of the Multi-Camera Registration System for Visual Navigation Benchmarking

This paper presents the complete calibration procedure of a multi-camera system for mobile robot ... more This paper presents the complete calibration procedure
of a multi-camera system for mobile robot motion
registration. Optimization-based, purely visual methods
for the estimation of the relative poses of the motion
registration system cameras, as well as the relative poses of
the cameras and markers placed on the mobile robot were
proposed. The introduced methods were applied to the
calibration of the system and the quality of the obtained
results was evaluated. The obtained results compare
favourably with the state of the art solutions, allowing the
use of the considered motion registration system for the
accurate reconstruction of the mobile robot trajectory and
to register new datasets suitable for the benchmarking of
indoor, visual-based navigation algorithms.

Research paper thumbnail of Comparative assessment of point feature detectors in the context of robot navigation

This paper presents evaluation of various contemporary interest point detector and descriptor pai... more This paper presents evaluation of various contemporary interest point detector and descriptor pairs in the context of robot navigation. The robustness of the detectors and descriptors is assessed using publicly available datasets: the first gathered from the camera mounted on the industrial robot and the second gathered from the mobile robot . The most efficient detectors and descriptors for the visual robot navigation are selected.

Research paper thumbnail of ON AUGMENTING THE VISUAL SLAM WITH DIRECT ORIENTATION MEASUREMENT USING THE 5-POINT ALGORITHM

Research paper thumbnail of The registration system for the evaluation of indoor visual slam and odometry algorithms

This paper presents the new benchmark data registraon system aimed at facilita ng the development... more This paper presents the new benchmark data registraon system aimed at facilita ng the development and evalua on of the visual odometry and SLAM algorithms. The WiFiBOT LAB V3 wheeled robot equipped with three cameras, XSENS MTi a tude and heading reference system (AHRS) and Hall encoders can be used to gather data in indoor explora on scenarios. The ground truth trajectory of the robot is obtained using the visual mo on tracking system. Addi onal sta c cameras simula ng the surveillance network, as well as ar ficial markers augmen ng the naviga on are incorporated in the system. The datasets registered with the presented system will be freely available for research purposes.

Research paper thumbnail of The comparison of point feature detectors and descriptors in the context of robot navigation

Research paper thumbnail of Visual Simultaneous Localization and Mapping Employing Active Infrared Lighting

Advanced Science Letters, 2012

Research paper thumbnail of Calibration of the Multi-Camera Registration System for Visual Navigation Benchmarking

This paper presents the complete calibration procedure of a multi-camera system for mobile robot ... more This paper presents the complete calibration procedure
of a multi-camera system for mobile robot motion
registration. Optimization-based, purely visual methods
for the estimation of the relative poses of the motion
registration system cameras, as well as the relative poses of
the cameras and markers placed on the mobile robot were
proposed. The introduced methods were applied to the
calibration of the system and the quality of the obtained
results was evaluated. The obtained results compare
favourably with the state of the art solutions, allowing the
use of the considered motion registration system for the
accurate reconstruction of the mobile robot trajectory and
to register new datasets suitable for the benchmarking of
indoor, visual-based navigation algorithms.

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