@InProceedings{Fojtu-Havlena-Pajdla-ICIRA-2012,
  IS = { zkontrolovano 29 Mar 2013 },
  UPDATE  = { 2013-01-25 },
  author     = {Fojt{\r u}, {\v S}imon and Havlena, Michal and
                Pajdla, Tom{\'a}{\v s}},
  language   = {English},
  title      = {Nao Robot Localization and Navigation Using Fusion of 
                Odometry and Visual Sensor Data},
  c_title    = {Lokalizace a navigace robotu Nao pomoc{\'{i}} f{\r{u}}ze dat 
                z odometrick{\'{e}}ho a vizu{\'{a}}ln{\'{i}}ho senzoru},
  year       = {2012},
  month      = {October},
  pages      = {427--438},
  editor     = {Su, Chun-Yi and Rakheja, Subhash and Liu, Honghai},
  booktitle  = {Intelligent Robotics and Applications, 
                5th International Conference, ICIRA 2012},
  publisher  = {Springer},
  address    = {Berlin, Germany},
  isbn       = {978-3-642-33514-3},
  volume     = {7507},
  series     = {Lecture Notes in Computer Science},
  issn       = {0302-9743},
  number     = {2},
  book_pages = {715},
  annote     = {Nao humanoid robot from Aldebaran Robotics is equipped
    with an odometry sensor providing rather inaccurate robot pose
    estimates. We propose using Structure from Motion (SfM) to enable
    visual odometry from Nao camera without the necessity to add
    artificial markers to the scene and show that the robot pose
    estimates can be significantly improved by fusing the data from
    the odometry sensor and visual odometry. The implementation
    consists of the sensor modules streaming robot data, the mapping
    module creating a 3DICIRA 2012 model, the visual localization module
    estimating camera pose w.r.t.~the model, and the navigation module
    planning robot trajectories and performing the actual
    movement. All of the modules are connected through the RSB
    middleware, which makes the solution independent on the given
    robot type.},
  keywords   = {Structure from motion, Robot localization, 
                Robot navigation, Nao humanoid robot},
  authorship = {40-30-30},
  project    = {SGS12/187/OHK3/3T/13, SGS12/191/OHK3/3T/13, FP7-ICT-247525 HUMAVIPS},
  doi        = {10.1007/978-3-642-33515-0_43},
  psurl      = {[Fojtu-Havlena-Pajdla-ICIRA-2012, 1.4MB]},
  www        = {http://link.springer.com/chapter/10.1007\%2F978-3-642-33515-0_43},
  day        = { 3-5 },
  venue      = { Montreal, Canada },
  organization = { Concordia University, Canada },
}