Closed-loop recursive estimation of 3D features for a mobile vision system

This paper presents a scheme allowing to estimate parameters which describe geometrical structures in a 3D scene by only using informations issued from a sequence of images provided by a mobile vision sensor with known motion. We first recall the basic used models : points and lines, and then relate their perspective projection in the image plane to the camera motion. Some techniques of recursive filtering are used into the sequence of images to incrementaly build the 3D scene all along the displacement of the camera. Some experimental results in the field of robotics are given.