HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

Active Structure from Motion for Spherical and Cylindrical Targets

Riccardo Spica 1 Paolo Robuffo Giordano 1 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Structure estimation from motion (SfM) is a classical and well-studied problem in computer and robot vision, and many solutions have been proposed to treat it as a recursive filtering/estimation task. However, the issue of actively optimizing the transient response of the SfM estimation error has not received a comparable attention. In this paper, we provide an experimental validation of a recently proposed nonlinear active SfM strategy via two concrete applications: 3D structure estimation for a spherical and a cylindrical target. The experimental results fully support the theoretical analysis and clearly show the benefits of the proposed active strategy. Indeed, by suitably acting on the camera motion and estimation gains, it is possible to assign the error transient response and make it equivalent to that of a reference linear second-order system with desired poles.
Document type :
Conference papers
Complete list of metadata

Cited literature [23 references]  Display  Hide  Download

Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Wednesday, February 19, 2014 - 11:24:20 AM
Last modification on : Thursday, January 20, 2022 - 4:19:53 PM
Long-term archiving on: : Monday, May 19, 2014 - 11:55:49 AM


Files produced by the author(s)


  • HAL Id : hal-00949169, version 1


Riccardo Spica, Paolo Robuffo Giordano, François Chaumette. Active Structure from Motion for Spherical and Cylindrical Targets. IEEE Int. Conf. on Robotics and Automation, ICRA'14, Jun 2014, Hong-Kong, Hong Kong SAR China. ⟨hal-00949169⟩



Record views


Files downloads