Active Stereovision Using Invariant Visual Servoing

Author

Brandou, Vincent ; Malis, Ezio ; Rives, Patrick ; Allais, Anne-Gaelle ; Perrier, Michel

Author_Institution

IFREMER

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

2326

Lastpage

2331

Abstract

The objective of this paper is to propose an innovative visual servoing method in order to improve the 3D reconstruction of objects for quantitative measurements. The method uses a Stereovision system that allows us to obtain several shots of an object, at regular intervals according to a predefined trajectory. In our case, the stereo rig is equipped with two different cameras, consequently the intrinsic parameters are not the same. The first one is fixed while the other one is mounted on a pan and tilt. Simulation and preliminary experiments in laboratory conditions shows the validity of our approach

Keywords

active vision; image reconstruction; manipulators; mobile robots; stereo image processing; underwater vehicles; visual servoing; 3D reconstruction; 6 DOF manipulator arm; active stereovision; invariant visual servoing; underwater scenes; underwater vehicles; Acoustic measurements; Cameras; Geometry; Image reconstruction; Layout; Robot vision systems; Sea measurements; Stereo vision; Underwater vehicles; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282640

Filename

4058733