Dynamic scene recognition with a monocular moving camera for industrial robotics

For the realization of dynamic tasks in unstructured production environment, the autonomous mobile systems need sequential knowledge of the manufacturing surroundings. Only on the basis of the reliably 3D viewing can these systems adapt autonomously and intelligently to unknown surroundings and infer the immediate and future actions of the robot. The task to reconstruct the dynamic scene with moving objects seen from a monocular moving camera is feasible only when some constraints are assumed on the trajectory shape of the moving objects. In this paper, methods to reconstruct objects moving along straight lines, circular and arbitrary trajectories are introduced.