Share Email Print

Proceedings Paper

Three-dimensional scene acquisition by motion-induced stereo
Author(s): Peter Schaeren; Bruno Schneuwly; Walter Guggenbuehl
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

We describe 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. The problem of dynamically selecting points in real time is addressed. A method for defining a qualitative measure of the 'trackability' of points is introduced. To efficiently use the available multitarget tracking hardware a scheme of prediction and workload balancing is shown. 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, by means of resection, the exact exterior orientation is determined. Positional information is extracted from the 3-D data enabling the robot to grab the object it monitored.

Paper Details

Date Published: 30 April 1992
PDF: 10 pages
Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); doi: 10.1117/12.57936
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. 1611:
Sensor Fusion IV: Control Paradigms and Data Structures
Paul S. Schenker, Editor(s)

© SPIE. Terms of Use
Back to Top