Optimal estimation of 3D structures using visual servoing
- 1 January 1994
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 10636919,p. 347-354
- https://doi.org/10.1109/cvpr.1994.323850
Abstract
This paper deals with the recovery of 3D information using a single mobile camera in the context of active vision. We propose a general revisited formulation of the structure-from-motion issue, and we determine adequate camera configurations and motions which lead to a robust and accurate estimation of the 3D structure parameters. We apply the visual servoing approach to perform these camera motions. Real-time experiments dealing with the 3D structure estimation of points and cylinders are reported, and demonstrate that this active vision strategy can very significantly improve the estimation accuracy.Keywords
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