This paper deals with the recovery of 3D information using a single mobile camera in the context of active vision. We propose a general revisited formulation of the structure-from-motion issue, and we determine adequate camera configurations and motions which lead to a robust and accurate estimation of the 3D structure parameters. We apply the visual servoing approach to perform these camera motions. Real-time experiments dealing with the 3D structure estimation of points and cylinders are reported, and demonstrate that this active vision strategy can very significantly improve the estimation accuracy.<>


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    Title :

    Optimal estimation of 3D structures using visual servoing


    Contributors:
    Chaumette (author) / Boukir (author) / Bouthemy (author) / Juvin (author)


    Publication date :

    1994-01-01


    Size :

    692343 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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