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Fitting 3d models on central catadioptric images

Eric Marchand 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 : Increasing the field of view of camera is an important issue practical in robot vision. one solution is to consider catadioptric camera that allows a 360o field of view. in this paper we propose a 3d model tracking algorithm that allows a fast and reliable tracking of 3d objects within central catadioptric images. the proposed approach relies on the virtual visual servoing approach. all the modeling aspects have been reconsidered to consider the projection model. results show the method to be robust and efficient.
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Submitted on : Thursday, December 18, 2008 - 4:26:19 PM
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  • HAL Id : inria-00348359, version 1


Eric Marchand, François Chaumette. Fitting 3d models on central catadioptric images. IEEE Int. Conf. on Robotics and Automation, ICRA'07, 2007, Roma, Italy. pp.52-58. ⟨inria-00348359⟩



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