Active Vision 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 Sensor Placement for Complete Scene Reconstruction and Exploration

Controlled camera motions for scene reconstruction and exploration

Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. Abstract This paper deals with the 3D structure estimation and exploratio...

i3D: Interactive Planar Reconstruction of Objects and Scenes

3D reconstruction from 2D images is an active research topic in the computer vision community. Classical algorithms like Structure From Motion (SFM) and Multi-View Stereo (MVS) are known to provide a robust framework for reconstruction, but fail to produce a dense plausible reconstruction. Some recent works have shown that making planar approximations of the scene help obtain more complete and ...

Extraction of multi-modal object representations in a robot vision system

We introduce one module in a cognitive system that learns the shape of objects by active exploration. More specifically, we propose a feature tracking scheme that makes use of the knowledge of a robotic arm motion to: 1) segment the object currently grasped by the robotic arm from the rest of the visible scene, and 2) learn a representation of the 3D shape without any prior knowledge of the obj...