A Few Steps Towards 3D Active Vision by Thierry Vieville

By Thierry Vieville

A Few Steps in the direction of 3D lively Vision describes a number of modules that may be used to accomplish 3D imaginative and prescient. a selected challenge within the box of energetic imaginative and prescient is analyzed, specifically how appropriate is it to explicitly use 3D visible cues in a reactive visible job? the writer has accumulated a collection of experiences in this topic and has used those experimental and theoretical advancements to suggest a man-made view at the challenge, accomplished by way of a few particular experiments. With this booklet scientists and graduate scholars can have a whole set of equipment, algorithms, and experiments to introduce 3D visible cues in lively visible conception mechanisms reminiscent of autocalibration of visible sensors on robot heads and cellular robots. Analogies with organic visible structures offer a simple creation to this subject.

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The visual control directly defines angular join positions. e. the shift related to the zoom/focus of the lens. There is thus no need to calibrate the corresponding parameter at this stage. This nice property is due to the chosen mechanical architecture. The low-level control is thus decoupled on each axis and is implemented in hardware, using pre-programmed position or velocity PID loops. 2 Active Observation of a 3D Visual Target We would now like to design the following behavior, on this artificial oculomotor system: The system is observing the visual surroundings, and the visual sensor is stabilized in terms of retinal slip.

2. 3D Active Vision on a Robotic Head The next step is now to verify whether these general ideas can be easily implemented, considering an effective active visual system. This is the goal of this second chapter in which we describe a mechanical system which has been designed to facilitate the fixation and tracking of 3D objects. 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).

Zooming into the observed object will overcome insufficient resolution. This leads to a criterion for zoom control: the focal length is to be increased if and only if this reduces the residual disparity between two frames for the observed object, and it is to be tuned to minimize this disparity. 25, 36] when the system is to be dynamically calibrated. This is not a restriction for our implementation, since through calibration is always given. One way to avoid this contradiction and preserve both requirements 1 and 2 is to use to unhomogeneous visual sensor.

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