Structure from motion in real time

Peter Schaeren; Bruno Schneuwly; Walter Guggenbuehl

doi:10.1117/12.141766

11 March 1993 Structure from motion in real time

Peter Schaeren, Bruno Schneuwly, Walter Guggenbuehl

Proceedings Volume 1964, Applications of Artificial Intelligence 1993: Machine Vision and Robotics; (1993) https://doi.org/10.1117/12.141766
Event: Optical Engineering and Photonics in Aerospace Sensing, 1993, Orlando, FL, United States

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.

Citation Download Citation

Peter Schaeren, Bruno Schneuwly, and Walter Guggenbuehl "Structure from motion in real time", Proc. SPIE 1964, Applications of Artificial Intelligence 1993: Machine Vision and Robotics, (11 March 1993); https://doi.org/10.1117/12.141766

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