Visual Trajectories from Uncalibrated Stereo

Andreas Ruf 1 Radu Horaud 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : This paper proposes a methodological framework for trajectory generation in projective space. The framework en-ables trajectories that respect rigidity constraints of structure and motion, that are furthermore uniform and optimal in terms of Euclidean configuration, eventhough no camera calibration is assumed. In a projective reconstruction of the scene, obtained e.g. from an uncalibrated stereo-rig, the homography between corresponding feature points on a rigid object in different positions is employed to represent its spatial configuration. From its algebraic structure -it is similar to a rigid motion -decoupling of rotation and translation, and uniform interpolation of trajectories are derived. Speaking in robotic terms, the merely point-to-point definitions of goals, as present in current approaches to visual servoing, are extended to a guarded motion along via points on complete-path trajectories which result from interpolation of a demanded type of motion. Translationonly, rotation-first, rotation-last task-functions are further explicited.
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https://hal.inria.fr/inria-00590079
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Submitted on : Tuesday, May 3, 2011 - 9:15:05 AM
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Andreas Ruf, Radu Horaud. Visual Trajectories from Uncalibrated Stereo. Workshop on "New Trends in Image-based Robot Servoing" (IROS '97), IEEE (Institute of Electrical and Electronics Engineers) / RSJ (Robotics Society of Japan), Sep 1997, Grenoble, France. pp.83--91. ⟨inria-00590079⟩

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