Active vision for complete scene reconstruction and exploration

Active Vision for Complete Scene Reconstruction and Exploration

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 to gaze on the considered primitive, we have developed perceptual strategies able to...

Active Sensor Placement for Complete Scene Reconstruction and Exploration

Active sensor placement for complete scene reconstruction and exploration

This paper deals with the 3D structure estimation and exploration of a scene using active vision. We have used the structure from controlled motion approach to obtain a precise and robust estimation of the 3D structure of geometrical primitives. Since it involves to gaze successively on the considered primitives, we have developed perceptual strategies able to perform a succession of robust est...

Active Scene Exploration Vision System

We present a model of scene exploration in which the high-resolution fovea is deployed to interesting regions by selective attention processes. The system switches between exploratory and recognition modes such that in exploration mode, regions of interest are investigated and in recognition mode, a given region is carefully examined as the recognition process is attempted for the particular re...

A Portable Active Binocular Robot Vision Architecture for Scene Exploration

We present a portable active binocular robot vision architecture that integrates a number of visual behaviours. This vision architecture inherits the abilities of vergence, localisation, recognition and simultaneous identification of multiple target object instances. To demonstrate the portability of our vision architecture, we carry out qualitative and comparative analysis under two different ...