Marchand95a

E. Marchand, F. Chaumette, E. Rutten. Real time active visual reconstruction using the synchronous paradigm. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'95, Volume 1, Pages 96-102, Pittsburgh, Pennsylvania, August 1995.

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Abstract

In this paper, we apply the synchronous approach to real time active visual reconstruction. It illustrates the adequateness of signal, a synchronous data flow programming language, for the specification of a system dealing with various domains such as robot control, computer vision and the programming of hierarchical parallel automata. More precisely, our application consists in the 3D structure estimation of a set of geometrical primitives using a camera mounted on the end effector of a six dof robot. At the level of camera motion control, the visual servoing approach is specified and implemented in Signal as a function from sensor inputs to control outputs. The 3D reconstruction method is based on the ``structure from controlled motion'' approach. Its specification is made in parallel to visual servoing. We also present a perception strategy for connecting up several estimations, using time intervals and hierarchical structures for task preemption in signal. The integration of these techniques is validated experimentally by their implementation on a robotic cell

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Éric Marchand
François Chaumette

BibTex Reference

@InProceedings{Marchand95a,
   Author = {Marchand, E. and Chaumette, F. and Rutten, E.},
   Title = {Real time active visual reconstruction using the synchronous paradigm},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'95},
   Volume = {    1},
   Pages = {96--102},
   Address = {Pittsburgh, Pennsylvania},
   Month = {August},
   Year = {1995}
}

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