Wearable omnidirectional vision system for personal localization and guidance

Autonomous navigation and recognition of the environment are fundamental abilities for people extensively studied in computer vision and robotics fields. Expansion of low cost wearable sensing provides interesting opportunities for assistance systems that augment people navigation and recognition capabilities. This work presents our wearable omnidirectional vision system and a novel two-phase localization approach running on it. It runs state-of-the-art real time visual odometry adapted to catadioptric images augmented with topological-semantic information. The presented approach benefits from