Title :
Uncalibrated vision based on structured light
Author :
Fofi, David ; Salvi, Joaquim ; Mouaddib, El Mustapha
Author_Institution :
CREA, Univ. de Picardie Jules Verne, Amiens, France
Abstract :
The recovery of the three-dimensional structure of the environment is a pre-requisite for many tasks in mobile robotics. Unfortunately, calibration acts as a brake upon visual adaptation and robotic autonomy. We provide tools and constraints based on structured light for a complete and efficient uncalibrated Euclidean reconstruction of the environment. Experimental results achieved both on simulated and real data validate the method.
Keywords :
image reconstruction; mobile robots; robot vision; mobile robotics; robotic autonomy; structured light; three-dimensional structure; uncalibrated Euclidean environment reconstruction; uncalibrated vision; visual adaptation; Calibration; Cameras; Geometry; Image reconstruction; Layout; Mobile robots; Reconstruction algorithms; Robot sensing systems; Robot vision systems; Testing;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933167
