Title :
Rigid and articulated motion seen with an uncalibrated stereo rig
Author :
Ruf, Andreas ; Horaud, Radu
Author_Institution :
GRAVIR-IMAG, Montbonnot St. Martin, France
Abstract :
This paper establishes a link between uncalibrated stereo vision and the motion of rigid and articulated bodies. The variation in the projective reconstruction of a dynamic scene over time allows an uncalibrated stereo rig to be used as a faithful motion capturing device. We introduce an original theoretical framework-projective kinematics-which allows rigid and articulated motion to be represented within the transformation group of projective space. Corresponding projective velocities are defined in the tangent space. Most importantly, these projective motions inherit the Lie-group structure of the displacement group. These theoretical results lead immediately to non-metric formulations of visual servoing, tracking, motion capturing and motion synthesis systems, that no longer require the metric geometry of a stereo camera or of the articulated body to be known. We report on such a non-metric formulation of a visual servoing system and present simulated experimental results
Keywords :
Lie groups; motion estimation; stereo image processing; Lie-group structure; articulated motion; dynamic scene; motion capturing; motion synthesis systems; projective kinematics; projective reconstruction; projective velocities; stereo vision; tracking; uncalibrated stereo rig; visual servoing; Cameras; Image reconstruction; Kinematics; Layout; Manipulators; Reactive power; Robot sensing systems; Robot vision systems; Stereo image processing; Stereo vision;
Conference_Titel :
Computer Vision, 1999. The Proceedings of the Seventh IEEE International Conference on
Conference_Location :
Kerkyra
Print_ISBN :
0-7695-0164-8
DOI :
10.1109/ICCV.1999.790302