Active vision for complete scene reconstruction and exploration

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 gazing on the considered primitive, we have developed perceptual strategies able to perform a succession of robust estimations. This leads to a gaze planning strategy that mainly uses a representation of known and unknown areas as a basis for selecting viewpoints. This approach ensures a reconstruction as complete as possible of the scene