%0 Conference Proceedings
%F Marchand95a
%A Marchand, E.
%A Chaumette, F.
%A Rutten, E.
%T Real time active visual reconstruction using the synchronous paradigm
%B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'95
%V 	 1
%P 96-102
%C Pittsburgh, Pennsylvania
%X 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
%U http://rainbow-doc.irisa.fr/pdf/1995_iros_marchand.pdf
%8 August
%D 1995