Real-time Visuomotor Update of an Active Binocular Head

Michael Sapienza 1 Miles Hansard 2 Radu Horaud 3, *
* Auteur correspondant
2 School of Electronic Engineering and Computer Science
EECS - School of Electronic Engineering and Computer Science
3 PERCEPTION - Interpretation and Modelling of Images and Videos
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : In order for a binocular head to perform optimal 3D tracking, it should be able to verge its cameras actively, while maintaining geometric calibration. In this work we introduce a calibration update procedure, which allows a robotic head to simultaneously fixate, track, and reconstruct a moving object in real-time. The update method is based on a mapping from motor-based to image-based estimates of the camera orientations, estimated in an offline stage. Following this, a fast online procedure is presented to update the calibration of an active binocular camera pair. The proposed approach is ideal for active vision applications because no image-processing is needed at runtime for the scope of calibrating the system or for maintaining the calibration parameters during camera vergence. We show that this homography-based technique allows an active binocular robot to fixate and track an object, whilst performing 3D reconstruction concurrently in real-time.
Type de document :
Article dans une revue
Liste complète des métadonnées

Littérature citée [21 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-00768615
Contributeur : Team Perception <>
Soumis le : samedi 22 décembre 2012 - 18:18:42
Dernière modification le : mercredi 11 avril 2018 - 01:59:04
Document(s) archivé(s) le : dimanche 18 décembre 2016 - 10:42:45

Fichier

sapienza_ar_journal.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Michael Sapienza, Miles Hansard, Radu Horaud. Real-time Visuomotor Update of an Active Binocular Head. Autonomous Robots, Springer Verlag, 2013, 34 (1), pp.33-45. 〈http://link.springer.com/article/10.1007%2Fs10514-012-9311-2〉. 〈10.1007/s10514-012-9311-2〉. 〈hal-00768615v2〉

Partager

Métriques

Consultations de la notice

515

Téléchargements de fichiers

210