This paper deals with the recovery of 3D information using a single mobile camera in the context of active vision. We propose a general revisited formulation of the structure-from-motion issue, and we determine adequate 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. Real-time experiments dealing with the 3D structure estimation of points and cylinders are reported, and demonstrate that this active vision strategy can very significantly improve the estimation accuracy.<>


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    Titel :

    Optimal estimation of 3D structures using visual servoing


    Beteiligte:
    Chaumette (Autor:in) / Boukir (Autor:in) / Bouthemy (Autor:in) / Juvin (Autor:in)


    Erscheinungsdatum :

    01.01.1994


    Format / Umfang :

    692343 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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