A few steps towards 3D active vision:
Saved in:
| Main Author: | |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Berlin ; Heidelberg ; New York ; Barcelona ; Budapest u.a.
Springer
1997
|
| Series: | Springer series in information sciences
33 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Item Description: | Literaturverz. S. 223 - 238 |
| Physical Description: | XII, 240 S. Ill., graph. Darst. |
| ISBN: | 3540631062 |
Staff View
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| 100 | 1 | |a Viéville, Thierry |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a A few steps towards 3D active vision |c Thierry Viéville |
| 264 | 1 | |a Berlin ; Heidelberg ; New York ; Barcelona ; Budapest u.a. |b Springer |c 1997 | |
| 300 | |a XII, 240 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Springer series in information sciences |v 33 | |
| 500 | |a Literaturverz. S. 223 - 238 | ||
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| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-007652687 | |
Record in the Search Index
| _version_ | 1807505281537540096 |
|---|---|
| adam_text |
CONTENTS
1.
FROM
2D
TO
3D
ACTIVE
VISION
.
1
1.1
THE
CONCEPT
OF
ACTIVE
VISION
.
1
1.1.1
CAN
REACTIVE
VISION
BE
"
BETTER
"
THAN
PASSIVE
VISION?
.
2
1.1.2
A
BLINK
AT
THE
STATE
OF
THE
ART
IN
ACTIVE
VISION
.
4
1.2
A
SHORT
REVIEW
OF
EXISTING
ACTIVE
VISUAL
SYSTEMS
.
5
1.2.1
ACTIVE
VISUAL
SENSORS
.
5
1.2.2
CONTROL
FOR
ACTIVE
VISION
.
7
1.2.3
AUTO-CALIBRATION
OF
AN
ACTIVE
VISUAL
SYSTEM
.
8
1.2.4
PERCEPTION
OF
3D
PARAMETERS
USING
ACTIVE
VISION
.
9
1.3
ARCHITECTURE
OF
AN
ACTIVE
VISUAL
SYSTEM
.
10
1.3.1
THE
THREE
MAIN
FUNCTIONS
OF
AN
ACTIVE
VISUAL
SYSTEM
.
10
1.3.2
BASIC
REQUIREMENTS
OF
A
VISUAL
SYSTEM
.
12
1.4
2D
VERSUS
3D
VISION
IN
AN
ACTIVE
VISUAL
SYSTEM
.
13
1.4.1
ACTIVE
VISION
AND
2D
VISUAL
SERVOING
.
13
1.4.2
INTRODUCTION
OF
3D
VISION
IN
VISUAL
LOOPS
.
15
1.4.3
BASIC
MODULES
FOR
A
3D
ACTIVE
VISUAL
SYSTEM
.
16
1.5
GAZE
CONTROL
IN
3D
ACTIVE
VISUAL
SYSTEMS
.
18
2.
3D
ACTIVE
VISION
ON
A
ROBOTIC
HEAD
.
23
2.1
A
ONE-TO-ONE
3D
GAZE
CONTROLLER
.
23
2.1.1
TECHNICAL
DATA
ON
THE
ROBOTIC
HEAD
.
24
2.1.2
COMPUTING
THE
INVERSE
KINEMATIC
FOR
3D
FIXATION
.
25
2.2
ACTIVE
OBSERVATION
OF
A
3D
VISUAL
TARGET
.
28
2.2.1
A
ID
MODEL
OF
THE
EYE-NECK
TRACKING
.
29
2.2.2
A
LINEARIZED
ADAPTIVE
ID
MODEL
OF
THE
EYE-NECK
TRACKING
.
30
2.2.3
STATISTICAL
FILTERING
OF
THE
LINEARIZED
MODEL
.
31
2.2.4
CONTROLLING
THE
NECK
AND
EYE
POSITIONS
.
34
2.2.5
AUTOMATIC
TUNING
FROM
THE
SYSTEM
RESIDUAL
ERROR
.
35
2.2.6
ESTIMATING
U
R
.
36
2.2.7
ESTIMATING
A
.
36
2.2.8
ESTIMATING
7
.
37
X
CONTENTS
2.2.9
SIMULATION
OF
THE
COMBINED
BEHAVIOR
.
37
2.3
DETECTION
OF
VISUAL
TARGETS
FOR
3D
VISUAL
PERCEPTION
.
40
2.4
COMPUTING
THE
3D
PARAMETERS
OF
A
TARGET
.
42
2.4.1
A
UNIQUE
FRAMEWORK
TO
INTEGRATE
DEPTH
FROM
VERGENCE,
MOTION
AND
ZOOM
.
43
2.4.2
USING
SECOND-ORDER
FOCUS
VARIATIONS
TO
COMPUTE
DEPTH
.
43
2.4.3
MULTI-MODEL
CONCURRENCY
IN
3D
TRACKING
.
45
2.4.4
CONSIDERING
FURTHER
3D
INFORMATION
.
45
2.5
EXPERIMENTAL
RESULTS
.
46
2.5.1
HEAD
INTRINSIC
CALIBRATION
.
46
2.5.2
LOOKING
AT
A
3D
POINT
.
48
2.5.3
WHERE
TO
LOOK
NEXT
EXPERIMENT
.
48
2.5.4
RECONSTRUCTION
OF
A
COARSE
3D
MAP
.
49
2.5.5
TRACKING
OF
A
3D
TARGET:
SIMULATION
EXPERIMENTS
.
50
2.5.6
TRACKING
OF
A
3D
TARGET:
REAL
OBJECT
EXPERIMENTS
.
51
2.5.7
CONCLUSION
.
52
3.
AUTO-CALIBRATION
OF
A
ROBOTIC
HEAD
.
55
3.1
INTRODUCTION
.
55
3.2
REVIEWING
THE
PROBLEM
OF
VISUAL
SENSOR
CALIBRATION
.
57
3.3
EQUATIONS
FOR
THE
TRACKING
OF
A
STATIONARY
POINT
.
58
3.4
RECOVERING
THE
PARAMETERS
OF
THE
TRAJECTORY
.
61
3.4.1
AN
INITIAL
ESTIMATE
OF
THE
COEFFICIENTS
.
61
3.4.2
MINIMIZING
THE
NONLINEAR
CRITERION
.
63
3.5
COMPUTING
CALIBRATION
PARAMETERS
.
65
3.5.1
EQUATIONS
FOR
THE
INTRINSIC
CALIBRATION
PARAMETERS
.
66
3.5.2
EXTRINSIC
PARAMETERS
COMPUTATION
.
68
3.5.3
CALIBRATION
ALGORITHM
.
69
3.6
EXPERIMENTAL
RESULTS
.
70
3.6.1
HOW
STABLE
ARE
CALIBRATION
PARAMETERS
WHEN
ZOOMING?
.
70
3.6.2
EXPERIMENT
1:
PARAMETER
ESTIMATION
WITH
SYNTHETIC
DATA
.
71
3.6.3
EXPERIMENT
2:
TRAJECTORY
IDENTIFICATION
USING
REAL
DATA
.
72
3.6.4
EXPERIMENT
3:
PARAMETERS
ESTIMATION
USING
REAL
DATA
.
73
3.7
CONCLUSION
.
77
3.8
COMPARISON
WITH
THE
CASE
OF
KNOWN
TRANSLATIONS
.
78
3.9
APPLICATION
TO
THE
CASE
OF
A
BINOCULAR
HEAD
.
79
3.10
INSTANTANEOUS
EQUATIONS
FOR
CALIBRATION
.
80
3.10.1
REVIEWING
THE
DEFINITION
OF
THE
FUNDAMENTAL
MATRIX
.
80
3.10.2
CHARACTERIZING
THE
ESSENTIAL
MATRIX
FOR
FIXED
AXIS
ROTATIONS
.
81
CONTENTS
XI
3.10.3
CALIBRATION
USING
THE
FUNDAMENTAL
MATRIX
.
83
3.10.4
DISCUSSION
.
84
4.
INERTIAL
CUES
IN
AN
ACTIVE
VISUAL
SYSTEM
.
85
4.1
INTRODUCTION
.
85
4.2
THE
USE
OF
INERTIAL
FORCES
IN
A
ROBOTIC
SYSTEM
.
86
4.2.1
ORIGINS
OF
INERTIAL
FORCES
ON
A
ROBOT
.
86
4.2.2
DISTINCTION
WITH
INERTIAL
NAVIGATION
ON
VEHICLES
.
87
4.2.3
AVAILABLE
INERTIAL
SENSORS
.
88
4.2.4
COMPARISON
WITH
THE
HUMAN
VESTIBULAR
SYSTEM
.
90
4.3
AUTO-CALIBRATION
OF
INERTIAL
SENSORS
.
91
4.3.1
PRESENTATION
.
91
4.3.2
SENSOR
MODELS
.
91
4.3.3
ACCELEROMETERS
INTRINSIC
CALIBRATION
.
94
4.3.4
STATIC
EVALUATION
OF
CALIBRATION
PARAMETERS
.
94
4.3.5
EXPERIMENTAL
PROCEDURE
FOR
ACCELEROMETERS
CALIBRATION
.
95
4.3.6
GYROMETERS
INTRINSIC
CALIBRATION
.
96
4.3.7
PRINCIPLE
OF
THE
DYNAMIC
CALIBRATION
.
97
4.3.8
COMPUTING
THE
ROTATION
FROM
G
.
98
4.3.9
PERFORMING
A
ROTATION
IN
THE
VERTICAL
PLANE
.
98
4.3.10
EXPERIMENTAL
PROCEDURE
FOR
CALIBRATION
.
99
4.3.11
EXPERIMENTAL
RESULTS
FOR
CALIBRATION
.
100
4.4
SEPARATION
BETWEEN
GRAVITY
AND
LINEAR
ACCELERATION
.
101
4.4.1
USING
SPECIAL
ASSUMPTIONS
ON
THE
ENVIRONMENT
.
101
4.4.2
METHOD
1:
ESTIMATING
7(0)
IN
AN
ABSOLUTE
FRAME
OF
REFERENCE
.
101
4.4.3
METHOD
2:
ESTIMATING
7(0)
USING
THE
JERK
.
103
4.5
INTEGRATION
OF
ANGULAR
POSITION
.
104
4.5.1
A
RATIONAL
REPRESENTATION
OF
3D
ROTATIONS
.
105
4.5.2
RELATION
BETWEEN
W
AND
THE
ANGULAR
POSITION
.
106
4.5.3
COOPERATION
OF
THE
INERTIAL
AND
VISUAL
SYSTEMS
.
108
4.5.4
APPLICATION
OF
INERTIAL
INFORMATION
IN
A
VISUAL
SYSTEM
.
109
4.5.5
COMPUTATION
OF
THE
SCALE
FACTOR
.
110
4.6
COMPUTING
SELF-MOTION
WITH
A
VERTICAL
ESTIMATE
.
110
4.6.1
A
REPRESENTATION
OF
SELF-MOTION
USING
VERTICAL
CUES
.
ILL
4.6.2
THE
"
GYRO-ROTATION
"
AND
THE
VERTICAL
RECTIFICATION
.
114
4.6.3
STABILIZATION
USING
2D
TRANSLATION
AND
ROTATION
.
117
4.6.4
IMPLICATIONS
ON
THE
STRUCTURE
FROM
MOTION
PARADIGM
119
4.6.5
ESTIMATION
OF
THE
3D
ROTATION
.
119
4.6.6
IMPLICATION
ON
TOKEN
MATCHING
.
120
4.6.7
EXPERIMENTAL
RESULTS
.
121
4.7
CONCLUSION
.
124
XII
CONTENTS
5.
RETINAL
MOTION
AS
A
CUE
FOR
ACTIVE
VISION
.
127
5.1
DEFINITION
AND
NOTATION
.
127
5.1.1
CALIBRATION:
THE
CAMERA
MODEL
.
127
5.1.2
MOTION:
DISCRETE
RIGID
DISPLACEMENTS
.
129
5.1.3
STRUCTURE:
RIGID
PLANAR
STRUCTURES
.
130
5.2
USING
COLLINEATIONS
TO
ANALYSE
THE
RETINAL
MOTION
.
130
5.2.1
DEFINITION
.
130
5.2.2
PROPERTIES
.
132
5.3
ESTIMATION
OF
RETINAL
MOTION
FROM
CORRESPONDENCES
.
142
5.3.1
ESTIMATION
OF
A
H-MATRIX
FROM
POINT
CORRESPONDENCES
.
142
5.3.2
PERFORMING
TESTS
ON
THE
ESTIMATE
.
149
5.3.3
CONSIDERING
CORRESPONDENCES
BETWEEN
NON-PUNCTUAL
PRIMITIVES
.
154
5.4
IMPLEMENTATION
AND
EXPERIMENTAL
RESULTS
.
157
5.5
CONCLUSION
.
165
6.
UNCALIBRATED
MOTION
OF
POINTS
AND
LINES
.
167
6.1
INTRODUCTION
.
167
6.2
REPRESENTATIONS
OF
THE
RETINAL
MOTION
FOR
POINTS
.
169
6.2.1
CONSIDERING
THE
EUCLIDEAN
PARAMETERS
OF
THE
SCENE
.
169
6.2.2
FROM
EUCLIDEAN
TO
AFFINE
PARAMETERS
.
172
6.2.3
FROM
AFFINE
TO
A
PROJECTIVE
PARAMETERIZATION
.
179
6.2.4
CONCLUSION:
CHOOSING
A
COMPOSITE
REPRESENTATION
.
186
6.3
REPRESENTATIONS
OF
THE
RETINAL
MOTION
FOR
POINTS
AND
LINES
.
187
6.3.1
THE
RETINAL
MOTION
FOR
LINES
.
187
6.3.2
MOTION
OF
LINES
IN
THREE
VIEWS
.
192
6.3.3
CONCLUSION
ON
LINES
AND
POINTS
MOTION
.
195
6.4
IMPLEMENTATION
AND
EXPERIMENTAL
RESULTS
.
196
6.4.1
IMPLEMENTATION
OF
THE
MOTION
MODULE
.
196
6.4.2
EXPERIMENTAL
RESULTS
.
206
6.5
CONCLUSION
.
213
6.6
APPLICATION
TO
THE
PLANAR
CASE
.
214
7.
CONCLUSION
.
217
REFERENCES
.
223
INDEX
.
239 |
| any_adam_object | 1 |
| author | Viéville, Thierry |
| author_facet | Viéville, Thierry |
| author_role | aut |
| author_sort | Viéville, Thierry |
| author_variant | t v tv |
| building | Verbundindex |
| bvnumber | BV011385920 |
| classification_rvk | ST 330 |
| ctrlnum | (OCoLC)845436144 (DE-599)BVBBV011385920 |
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| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892637 |
| dewey-search | 629.892637 |
| dewey-sort | 3629.892637 |
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| discipline | Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
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| id | DE-604.BV011385920 |
| illustrated | Illustrated |
| indexdate | 2024-08-16T01:22:41Z |
| institution | BVB |
| isbn | 3540631062 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-007652687 |
| oclc_num | 845436144 |
| open_access_boolean | |
| owner | DE-384 DE-83 DE-525 |
| owner_facet | DE-384 DE-83 DE-525 |
| physical | XII, 240 S. Ill., graph. Darst. |
| publishDate | 1997 |
| publishDateSearch | 1997 |
| publishDateSort | 1997 |
| publisher | Springer |
| record_format | marc |
| series | Springer series in information sciences |
| series2 | Springer series in information sciences |
| spelling | Viéville, Thierry Verfasser aut A few steps towards 3D active vision Thierry Viéville Berlin ; Heidelberg ; New York ; Barcelona ; Budapest u.a. Springer 1997 XII, 240 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Springer series in information sciences 33 Literaturverz. S. 223 - 238 Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd rswk-swf Dreidimensionales maschinelles Sehen (DE-588)4137757-6 s DE-604 Springer series in information sciences 33 (DE-604)BV000008063 33 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007652687&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Viéville, Thierry A few steps towards 3D active vision Springer series in information sciences Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd |
| subject_GND | (DE-588)4137757-6 |
| title | A few steps towards 3D active vision |
| title_auth | A few steps towards 3D active vision |
| title_exact_search | A few steps towards 3D active vision |
| title_full | A few steps towards 3D active vision Thierry Viéville |
| title_fullStr | A few steps towards 3D active vision Thierry Viéville |
| title_full_unstemmed | A few steps towards 3D active vision Thierry Viéville |
| title_short | A few steps towards 3D active vision |
| title_sort | a few steps towards 3d active vision |
| topic | Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd |
| topic_facet | Dreidimensionales maschinelles Sehen |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007652687&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV000008063 |
| work_keys_str_mv | AT vievillethierry afewstepstowards3dactivevision |