A Few Steps Towards 3D Active Vision
A Few Steps Towards 3D Active Vision describes several modules that can be used to perform 3D vision. A specific problem in the field of active vision is analyzed, namely, how suitable is it to explicitly use 3D visual cues in a reactive visual task? The author has collected a set of studies on this subject and has used these experimental and theoretical developments to propose a synthetic view on the problem, completed by some specific experiments. With this book scientists and graduate students will have a complete set of methods, algorithms, and experiments to introduce 3D visual cues in active visual perception mechanisms such as autocalibration of visual sensors on robotic heads and mobile robots. Analogies with biological visual systems provide an easy introduction to this subject.
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From 2D to 3D Active Vision
3D Active Vision on a Robotic Head
AutoCalibration of a Robotic Head
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2D line 3D vision acceleration accelerometers active vision active visual system affine affine geometry algorithm angular velocity auto-calibration calibration parameters camera collineation compute consecutive frames considering constraints coordinates covariance criterion defined depth detect equations essential matrix estimate Euclidean extrinsic F-matrices filter fixed axis frame of reference geometry given gyrometers homogeneous homogeneous coordinates horizontal image sequence implementation inertial cues information matrix intrinsic calibration intrinsic parameters lens linear measurement mechanism method minimization module Moreover object obtained optical center orientation orthogonal output parameterized performed pixels planar plane at infinity point correspondences precision problem projection Qs-representation quantity recover representation retinal correspondences retinal disparity retinal error retinal motion rigid displacement rigid motion robotic head rotation matrix s-vectors scale factor scene segment self-motion stabilization stationary stereo structure from motion target tokens tracking trajectory translation uncalibrated vector vergence verify vertical views visual perception visual sensor zoom