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Method for updating the environment's 3D geometric database in telerobotics by determining the 3D attitude of a known object from a single camera view

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3 Author(s)
N'zi, E.C. ; CEMIF Syst. Complexes, Evry, France ; Mallem, M. ; Chavand, F.

The paper deals with the updating of environment's geometric database in telerobotics. It concerns the pose determination of known objects using 2D clues obtained through video images. A two step algorithm is implemented and assessed. The first step is available in case of object large motion, it is a geometric algorithm, which doesn't use redundant data; it provides a first estimate of the pose. The second step is available in case of object small motion. A linear approach is carried out to determine the pose. It allows the use of redundant data, so it improves the accuracy achieved after the first step

Published in:

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on  (Volume:5 )

Date of Conference:

22-25 Oct 1995

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