NDLI: Real time active visual reconstruction using the synchronous paradigm

Content Provider	IEEE Xplore Digital Library
Author	Marchand, E. Chaumette, F. Rutten, E.
Copyright Year	1995
Description	Author affiliation: Rennes I Univ., France (Marchand, E.; Chaumette, F.; Rutten, E.)
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.
Starting Page	96
Ending Page	102
File Size	866805
Page Count	7
File Format	PDF
ISBN	0818671084
DOI	10.1109/IROS.1995.525781
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-08-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Robot vision systems Cameras Visual servoing Computer languages Robot control Computer vision Automatic programming Parallel programming Robot programming
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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