30 April 1992 Three-dimensional scene acquisition by motion-induced stereo
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Abstract
We describe a monocular 'eye in hand' approach to acquire 3-D information of a scene in a robotic environment. By tracking points through an image sequence taken from a moving camera, the correspondence and occlusion problem is solved. The problem of dynamically selecting points in real time is addressed. A method for defining a qualitative measure of the 'trackability' of points is introduced. To efficiently use the available multitarget tracking hardware a scheme of prediction and workload balancing is shown. To overcome the inaccurate knowledge of the exterior orientation of the camera (which is mounted on a robot) control points are placed in the scene and, by means of resection, the exact exterior orientation is determined. Positional information is extracted from the 3-D data enabling the robot to grab the object it monitored.
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Peter Schaeren, Peter Schaeren, Bruno Schneuwly, Bruno Schneuwly, Walter Guggenbuehl, Walter Guggenbuehl, } "Three-dimensional scene acquisition by motion-induced stereo", Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); doi: 10.1117/12.57936; https://doi.org/10.1117/12.57936
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