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THREE-DIMENISONAL MONOCULAR SCENE RECONSTRUCTION FOR SERVICE-ROBOTS - An Application

Topics: Active and Robot Vision; Image Formation, Acquisition Devices and Sensors; Image-Based Modeling and 3D Reconstruction; Implementation of Image and Video Processing Systems; Matching Correspondence and Flow; Multi-View Geometry; Real-Time Vision; Stereo Vision and Structure from Motion

Authors: Sascha Jockel ; Tim Baier-Löwenstein and Jianwei Zhang

Affiliation: University of Hamburg, Germany

Keyword(s): 3D reconstruction - stereo vision - robotics - 3D model acquisition.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Applications ; Computer Vision, Visualization and Computer Graphics ; Geometry and Modeling ; Image Formation and Preprocessing ; Image Formation, Acquisition Devices and Sensors ; Image-Based Modeling ; Implementation of Image and Video Processing Systems ; Matching Correspondence and Flow ; Motion, Tracking and Stereo Vision ; Multi-View Geometry ; Pattern Recognition ; Real-Time Vision ; Software Engineering ; Stereo Vision and Structure from Motion

Abstract: This paper presents an image based three dimensional reconstruction system for service-robot applications in case of daily table scenarios. Image driven environment perception is one of the main research topics in the field of autonomous robot applications and fundamental for further action-plannings like three dimensional collision detection and prevention for grasping tasks. Perception will be done at two spatial-temporal varying positions by a micro-head camera mounted on a six-degree-of-freedom robot-arm of our mobile service-robot TASER. The epipolar geometry and fundamentalmatrix will be computed by preliminary extracted corners of both input images detected by a Harris-corner- detector. The input images will be rectified using the fundamentalmatrix to align corresponding scanlines together on the same vertical image coordinates. Afterwards a stereo correspondence is accomplished by a fast Birchfield algorithm that provides a 2.5 dimensional depth map of the scene. Based o n the depth map a three dimensional textured point-cloud is represented as interactive OpenGL scene model for further action- planning algorithms in three dimensional space. (More)

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Paper citation in several formats:
Jockel, S.; Baier-Löwenstein, T. and Zhang, J. (2007). THREE-DIMENISONAL MONOCULAR SCENE RECONSTRUCTION FOR SERVICE-ROBOTS - An Application. In Proceedings of the Second International Conference on Computer Vision Theory and Applications (VISAPP 2007) - 3D Model Aquisition and Representation; ISBN 978-972-8865-75-7; ISSN 2184-4321, SciTePress, pages 41-46. DOI: 10.5220/0002041100410046

@conference{3d model aquisition and representation07,
author={Sascha Jockel. and Tim Baier{-}Löwenstein. and Jianwei Zhang.},
title={THREE-DIMENISONAL MONOCULAR SCENE RECONSTRUCTION FOR SERVICE-ROBOTS - An Application},
booktitle={Proceedings of the Second International Conference on Computer Vision Theory and Applications (VISAPP 2007) - 3D Model Aquisition and Representation},
year={2007},
pages={41-46},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002041100410046},
isbn={978-972-8865-75-7},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the Second International Conference on Computer Vision Theory and Applications (VISAPP 2007) - 3D Model Aquisition and Representation
TI - THREE-DIMENISONAL MONOCULAR SCENE RECONSTRUCTION FOR SERVICE-ROBOTS - An Application
SN - 978-972-8865-75-7
IS - 2184-4321
AU - Jockel, S.
AU - Baier-Löwenstein, T.
AU - Zhang, J.
PY - 2007
SP - 41
EP - 46
DO - 10.5220/0002041100410046
PB - SciTePress

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