An active strategy for the simultaneous localization and reconstruction of a 3D object from a humanoid platform

Author

Delfin, Josafat ; Mar, Oscar ; Hayet, Jean-Bernard ; Castelan, M. ; Arechavaleta, G.

Author_Institution

Robot. & Adv. Manuf. Group, IPN, Saltillo, Mexico

fYear

2012

fDate

Nov. 29 2012-Dec. 1 2012

Firstpage

384

Lastpage

389

Abstract

This paper proposes a novel approach for the simultaneous localization and reconstruction of a 3D object. This reconstruction is done with a small humanoid platform by the only means of monocular vision.We combine (1) a stochastic control approach to decide how to move the robot such that the object can be both localized with respect to the robot and correctly reconstructed, and (2) a space carving approach for the 3D reconstruction of the object that merges the acquired monocular views into a coherent model. We present a set of very promising results obtained with a NAO platform.

Keywords

humanoid robots; image reconstruction; robot vision; solid modelling; stochastic systems; 3D object; 3D reconstruction; NAO platform; active strategy; coherent model; humanoid platform; monocular vision; simultaneous localization and reconstruction; space carving approach; stochastic control approach; Cameras; Image reconstruction; Robot kinematics; Robot vision systems; Three-dimensional displays;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on

Conference_Location

Osaka

ISSN

2164-0572

Type

conf

DOI

10.1109/HUMANOIDS.2012.6651548

Filename

6651548