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Proceedings Paper

Structure from motion in real time
Author(s): Peter Schaeren; Bruno Schneuwly; Walter Guggenbuehl
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Paper Abstract

We describe a real time implementation of a monocular `eye in hand' approach to acquire 3-D information of a scene in a robotic environment. By tracking points through an image sequence taken from a moving camera, the correspondence and occlusion problem is solved. Methods are presented which render textured surfaces in an image and allow the dynamic selection of points in real time. To overcome the inaccurate knowledge of the exterior orientation of the camera (which is mounted on a robot), control points are placed in the scene and the exact exterior orientation is determined by means of resection. Two different methods of tackling 3-D data and first results are reported.

Paper Details

Date Published: 11 March 1993
PDF: 16 pages
Proc. SPIE 1964, Applications of Artificial Intelligence 1993: Machine Vision and Robotics, (11 March 1993); doi: 10.1117/12.141766
Show Author Affiliations
Peter Schaeren, Swiss Federal Institute of Technology (Switzerland)
Bruno Schneuwly, Swiss Federal Institute of Technology (Switzerland)
Walter Guggenbuehl, Swiss Federal Institute of Technology (Switzerland)


Published in SPIE Proceedings Vol. 1964:
Applications of Artificial Intelligence 1993: Machine Vision and Robotics
Kim L. Boyer; Louise Stark, Editor(s)

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