Structure from controlled motion

被引:42
作者
Chaumette, F
Boukir, S
Bouthemy, P
Juvin, D
机构
[1] L3I, F-17042 LA ROCHELLE 1, FRANCE
[2] CEA, LETI DEIN, F-91191 GIF SUR YVETTE, FRANCE
关键词
computer vision; robotics; active vision; structure from motion; vision-based control;
D O I
10.1109/34.494639
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
This paper deals with the recovery of 3D information using a single mobile camera in the context of active vision. First, we propose a general revisited formulation of the structure-from-known-motion issue. Within the same formalism, we handle various kinds of 3D geometrical primitives such as points, lines, cylinders, spheres, etc. We also aim at minimizing effects of the different measurement errors which are involved in such a process. More precisely, we mathematically determine optimal camera configurations and motions which lead to a robust and accurate estimation of the 3D structure parameters. We apply the visual servoing approach to perform these camera motions using a control law in closed-loop with respect to visual data. Real-time experiments dealing with 3D structure estimation of points and cylinders are reported. They demonstrate that this active vision strategy can very significantly improve the estimation accuracy.
引用
收藏
页码:492 / 504
页数:13
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