Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


E. Marchand, F. Chaumette, E. Rutten. Real time active visual reconstruction using the synchronous paradigm. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'95, Volume 1, Pages 96-102, Pittsburgh, Pennsylvania, August 1995.

Download [help]

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2024, Projet Lagadic/Rainbow


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


Eric Marchand
Francois Chaumette

BibTex Reference

   Author = {Marchand, E. and Chaumette, F. and Rutten, E.},
   Title = {Real time active visual reconstruction using the synchronous paradigm},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'95},
   Volume = {    1},
   Pages = {96--102},
   Address = {Pittsburgh, Pennsylvania},
   Month = {August},
   Year = {1995}

EndNote Reference [help]

Get EndNote Reference (.ref)