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Active vision for complete scene reconstruction and exploration

E. Marchand 1 François Chaumette 1
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : This paper deals with the 3D structure estimation and exploration of static scenes using active vision. Our method is based on the structure from controlled motion approach that constrains camera motions to obtain an optimal estimation of the 3D structure of a geometrical primitive. Since this approach involves gazing on the considered primitive, we have developed perceptual strategies able to perform a succession of robust estimations. This leads to a gaze planning strategy that mainly uses a representation of known and unknown areas as a basis for selecting viewpoints. This approach ensures a reconstruction as complete as possible of the scene
Mots-clés : ROBOTIQUE VA
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https://hal.inria.fr/inria-00352545
Contributor : Eric Marchand <>
Submitted on : Tuesday, January 13, 2009 - 12:20:21 PM
Last modification on : Tuesday, June 15, 2021 - 4:27:44 PM
Long-term archiving on: : Saturday, November 26, 2016 - 4:19:12 AM

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  • HAL Id : inria-00352545, version 1

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E. Marchand, François Chaumette. Active vision for complete scene reconstruction and exploration. IEEE Transactions on Pattern Analysis and Machine Intelligence, Institute of Electrical and Electronics Engineers, 1999, 21 (1), pp.65-72. ⟨inria-00352545⟩

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