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Experimenting with 3D vision on a robotic head

Thierry Viéville 1 Emmanuelle Clergue 1 Reyes Enciso 1 Hervé Mathieu 1
1 ROBOTVIS - Computer Vision and Robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : 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). The basic requirements for such a 3D vision module to be embedded on a robotic head are discussed. The experimentation reported here corresponds to an implementation of these general ideas, considering a calibrated robotic head. We analyse how to make use of such a system for (1) detecting 3D-objects of interest, (2) recovering the average depth and size of the tracked objects, (3) fixating and tracking such objects, to facilitate their observation.
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https://hal.inria.fr/inria-00590048
Contributor : Team Perception <>
Submitted on : Tuesday, May 3, 2011 - 9:13:27 AM
Last modification on : Thursday, March 5, 2020 - 4:50:24 PM
Long-term archiving on: : Thursday, August 4, 2011 - 2:43:57 AM

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Thierry Viéville, Emmanuelle Clergue, Reyes Enciso, Hervé Mathieu. Experimenting with 3D vision on a robotic head. Robotics and Autonomous Systems, Elsevier, 1995, 14 (1), pp.1--27. ⟨10.1016/0921-8890(94)00019-X⟩. ⟨inria-00590048⟩

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