Applying the Synchronous Approach for Real Time Active Visual Reconstruction
نویسندگان
چکیده
In this paper, we apply the synchronous approach to real time active visual reconstruction. It illustrates the adequateness of Signal, a synchronous data ow programming language and environment, for the speciication of a system dealing with various domains such as robot control, computer vision and programmation of hierarchical parallel automaton. More precisely, one application consists in the 3D structure estimation of a set of geometrical primitives using an active vision paradigm. At the level of camera motion control, the visual servoing approach (a closed loop with respect to vision data) is speciied and implemented in Signal as a function from sensor inputs to control outputs. Furthermore, the 3D reconstruction method is based on the \structure from controlled motion" approach (constraining camera motion for optimal estimation). Its speciication is made in parallel to visual servoing, and involves the delay mechanism of Signal for the speciication of lters. This reconstruction involves focusing on each object; we thus present a perception strategy for connecting up several estimations, using tasks hierarchies interruption and time intervals in Signal. The integration of these techniques is validated experimentally by their implementation on a robotic cell, from which we present experimental results. de pr eemption de t^ aches et les intervalles de temps de Signal. L'int egration de ces techniques a et e valid ee exp erimentalement par leur mise en uvre sur une cellule de vision robotique, et nous pr esen-tons des r esultats exp erimentaux d'asservissement visuel et de reconstruction de sc enes obtenus sur cette cellule.
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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 In this paper, we apply the synchronous approach to real time ac...
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