Vision-based control with respect to planar and non-planar objects using a zooming camera
نویسندگان
چکیده
This paper concerns the visual servoing with a zooming camera. It presents a new visual servoing approach which allows to position a camera, equipped with a motorized zoom lens, with respect to an object independently if the object is planar or not. Indeed, planar objects are singular cases which cannot be handled by previous intrinsics-free visual servoing. The proposed method makes it possible to bring back a camera to its reference position while zooming. The focal length is initially controlled in order to keep the object in the field of view of the camera during the servoing. Then, the control of the focal length allows to solve the singularity for planar objects.
منابع مشابه
Determination of Optimum Planar Imaging Parameters for Small Structures with Diameters Less Than the Resolution of the Gamma Camera
Introduction: The limited spatial resolution of the gamma camera hinders the absolute quantification of planar images of small structures. The imaged structures are affected by partial volume effects (PVEs), which can spread activity and lead to underestimation of the regional distribution. The use of optimum planar parameters reduces the impact of the limited spatial resolution of the gamma c...
متن کاملPlanar and SPECT Monte Carlo acceleration using a variance reduction technique in I131 imaging
Background: Various variance reduction techniques such as forced detection (FD) have been implemented in Monte Carlo (MC) simulation of nuclear medicine in an effort to decrease the simulation time while keeping accuracy. However most of these techniques still result in very long MC simulation times for being implemented into routine use. Materials and Methods: Convolution-based force...
متن کاملComparing Model-based Versus K-means Clustering for the Planar Shapes
In some fields, there is an interest in distinguishing different geometrical objects from each other. A field of research that studies the objects from a statistical point of view, provided they are invariant under translation, rotation and scaling effects, is known as the statistical shape analysis. Having some objects that are registered using key points on the outline...
متن کاملCamera Control in a Planar, Graspable Interface
BUILD-IT is a planning tool based on computer vision technology, supporting complex planning and composition tasks. It allows a group of people, seated around a table, to interact with objects in a virtual scene using real bricks. A plan view of the scene is projected onto the table, where object manipulation takes place. Hence, manipulation and display are coincident. A perspective view is pro...
متن کاملA New Linear Camera Self-Calibration Technique
In this paper, a new active vision based camera self-calibration technique is proposed. The novelty of this new technique is that it can determine LINEARLY all the FIVE intrinsic parameters of a camera. The basic principle of our new calibration technique is to use the planar information in the scene and to control the camera to undergo several sets of orthogonal planar motions. Then, a set of ...
متن کامل