Real-time 3D reconstruction and fixation with an active binocular head
نویسندگان
چکیده
In order for a binocular head to perform optimal 3D tracking, it should be able to verge its cameras actively, while maintaining geometric calibration. In this work we introduce a calibration update procedure, which allows a robotic head to simultaneously fixate, track, and reconstruct a moving object in real-time. The update method is based on a mapping from motor-based to image-based estimates of the camera orientations, estimated in an offline stage. Following this, a fast online procedure is presented to update the calibration of an active binocular camera pair. The proposed approach is ideal for active vision applications because no image-processing is needed at runtime for the scope of calibrating the system or for maintaining the calibration parameters during camera vergence. We show that this homography-based technique allows an active binocular robot to fixate and track an object, whilst performing 3D reconstruction concurrently in real-time. Key-words: Real-time vision, Active binocular vision, Visual tracking, 3D reconstruction Reconstruction 3D temps-réel et fixation avec un système binoculaire actif Résumé : Afin qu’une tête binoculaire puisse effectuer le suivi optimal en 3D, elle devrait être en mesure de pointer ses caméras activement, tout en conservant l’étalonnage géométrique. Dans ce travail nous présentons une procédure de mise à jour de calibration qui permet à une tête robotique de fixer et de reconstruire simultanément, un objet en mouvement en temps réel. La méthode de mise à jour est basée sur une cartographie du moteur basé à base d’images. Les estimations des orientations appareil, estimée à un stade déconnecté. Suite à cela, une procédure rapide en ligne est présentée à mettre à jour l’étalonnage d’une paire de jumelles appareil actif. L’approche proposée est idéal pour les applications de vision active, car aucun traitement d’image est nécessaire à l’exécution de la portée de l’étalonnage du système ou pour maintenir les paramètres d’étalonnage lors de convergence caméra. Nous montrons que cette technique basée sur homographie permet un robot binoculaire active fixer et à suivre un objet, tout en effectuant simultanément la reconstruction 3D en temps réel. Mots-clés : Vision temps-réel, vision binoculaire active, suivi visuel, reconstruction 3D 3D reconstruction and fixation with a binocular head 3
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In order for a binocular head to perform optimal 3D tracking, it should be able to verge its cameras actively, while maintaining geometric calibration. In this work we introduce a calibration update procedure, which allows a robotic head to simultaneously fixate, track, and reconstruct a moving object in real-time. The update method is based on a mapping from motor-based to image-based estimate...
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