EXPERIMENTING WITH 3D VISION ON A ROBOTIC HEAD

被引：9

作者：

VIEVILLE, T

CLERGUE, E

ENCISO, R

MATHIEU, H

机构：

[1] INRIA, Sophia, 06902 Valbonne

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 1995年 / 14卷 / 01期

关键词：

3D TRACKING; STRUCTURE AND MOTION; ROBOTIC HEAD;

D O I：

10.1016/0921-8890(94)00019-X

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We intend to build a vision system that will allow dynamic 3D perception of objects of interest. More specifically, we discuss the idea of using 3D visual cues when tracking a visual target, in order to recover some of its 3D characteristics (depth, size, kinematic information). The basic requirements for such a 3D vision module to be embedded on a robotic head are discussed. The experimentation reported here corresponds to an implementation of these general ideas, considering a calibrated robotic head. We analyse how to make use of such a system for (1) detecting 3D objects of interest, (2) recovering the average depth and size of the tracked objects, (3) fixating and tracking such objects, to facilitate their observation.

引用

页码：1 / 27

页数：27