@TechReport{Havlena-TR-2012-07,
  IS = { zkontrolovano 15 Jan 2013 },
  UPDATE  = { 2012-05-28 },
  author =	{Havlena, Michal and Fojt{\r u}, {\v S}imon and
		 Pajdla, Tom{\'a}{\v s}},
  title =	{Nao Robot Localization and Navigation with Atom Head},
  year =	{2012},
  pages =	{11},
  type =	{Research Report},
  institution =	{Center for Machine Perception, K13133 FEE Czech Technical
		 University},
  address =	{Prague, Czech Republic},
  issn =	{1213-2365},
  number =	{CTU--CMP--2012--07},
  month =	{March},
  figures =	{6},
  annote =	{Robot localization and navigation from vision both
    make use of Structure from Motion (SfM). First, it is shown that
    image quality, a crucial assumption for successful SfM, of the two
    cameras in the v4.0 Nao Atom head has been improved when compared
    to the original Nao Geode head. Secondly, the implementation of
    different SfM functionalities into individual modules connected
    through the RSB architecture is described. In our specification,
    the mapping module creates a 3D model, the localization module
    estimates camera pose w.r.t the model, and the navigation module
    plans robot trajectories and performs the actual movement.},
  keywords =	{Structure from motion, Robot localization, Nao humanoid robot},
  authorship =	{34-33-33},
  project =	{FP7-ICT-247525 HUMAVIPS},
  psurl =	{[Havlena-TR-2012-07.pdf]},
}