Title :
Active Stereovision Using Invariant Visual Servoing
Author :
Brandou, Vincent ; Malis, Ezio ; Rives, Patrick ; Allais, Anne-Gaelle ; Perrier, Michel
Author_Institution :
IFREMER
Abstract :
The objective of this paper is to propose an innovative visual servoing method in order to improve the 3D reconstruction of objects for quantitative measurements. The method uses a Stereovision system that allows us to obtain several shots of an object, at regular intervals according to a predefined trajectory. In our case, the stereo rig is equipped with two different cameras, consequently the intrinsic parameters are not the same. The first one is fixed while the other one is mounted on a pan and tilt. Simulation and preliminary experiments in laboratory conditions shows the validity of our approach
Keywords :
active vision; image reconstruction; manipulators; mobile robots; stereo image processing; underwater vehicles; visual servoing; 3D reconstruction; 6 DOF manipulator arm; active stereovision; invariant visual servoing; underwater scenes; underwater vehicles; Acoustic measurements; Cameras; Geometry; Image reconstruction; Layout; Robot vision systems; Sea measurements; Stereo vision; Underwater vehicles; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282640
