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Títol: Zoom control to compensate camera translation within a robot egomotion estimation approach
Autor: Alenyà Ribas, Guillem
Torras, Carme
Altres autors/autores: Institut de Robòtica i Informàtica Industrial
Editorial: Springer
Matèries: Àrees temàtiques de la UPC::Enginyeria electrònica i telecomunicacions::Processament del senyal::Processament de la imatge i del senyal vídeo
Computer vision
Visió per ordinador
Classificació INSPEC::Pattern recognition::Computer vision
Tipus de document: Part of book or chapter of book
Descripció: We previously proposed a method to estimate robot egomotion from the deformation of a contour in the images acquired by a robot-mounted camera [2, 1]. The fact that the contour should always be viewed under weak-perspective conditions limits the applicability of the method. In this paper, we overcome this limitation by controlling the zoom so as to compensate for robot translation along the optic axis. Our control entails minimizing an error signal derived directly from image measurements, without requiring any 3D information. Moreover, contrarily to other 2D control approaches, no point correspondences are needed, since a parametric measure of contour deformation suffices. As a further advantage, the error signal is obtained as a byproduct of egomotion estimation and, therefore, it does not introduce any burden in the computation. Experimental results validate this zooming extension to the method. Moreover, robot translations are correctly computed, including those along the optic axis.
Peer Reviewed
Altres identificadors i accés: Alenyà, Guillem; Torras, Carme. "Zoom control to compensate camera translation within a robot egomotion estimation approach". 6th International Workshop on Robot Motion and Control (RoMoCo), Bukowy Dworek, Polònia , 2007. A: Lecture Notes in Control and Information Sciences, vol. 360. Berlin, Alemanya: Springer , 2007, p. 1-18.
Disponible al dipòsit:E-prints UPC

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