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.<>
Optimal estimation of 3D structures using visual servoing
1994-01-01
692343 byte
Conference paper
Electronic Resource
English
Optimal Estimation of 3D Structures Using Visual Servoing
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