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Zoom control to compensate camera translation within a robot egomotion estimation approach
dc.contributor.author | Alenyà Ribas, Guillem |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2009-03-13T09:19:22Z |
dc.date.available | 2009-03-13T09:19:22Z |
dc.date.created | 2007 |
dc.date.issued | 2007 |
dc.identifier.citation | 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. |
dc.identifier.uri | http://hdl.handle.net/2117/2673 |
dc.description.abstract | 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. |
dc.format.extent | p. 1-18 |
dc.language.iso | eng |
dc.publisher | Springer |
dc.subject | Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo |
dc.subject.lcsh | Computer vision |
dc.title | Zoom control to compensate camera translation within a robot egomotion estimation approach |
dc.type | Part of book or chapter of book |
dc.subject.lemac | Visió per ordinador |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Pattern recognition::Computer vision |
dc.rights.access | Open Access |
local.personalitzacitacio | true |
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