Publication

Monocular object pose computation with the foveal-peripheral camera of the humanoid robot Armar-III

Conference Article

Conference

Catalan Conference on Artificial Intelligence (CCIA)

Edition

11th

Pages

355-362

Doc link

http://www.iospress.nl/loadtop/load.php?isbn=9781586039257

File

Download the digital copy of the doc pdf document

Abstract

Active contour modelling is useful to fit non-textured objects, and algorithms have been developed to recover the motion of an object and its uncertainty. Here we show that these algorithms can be used also with point features matched in textured objects, and that active contours and point matches complement in a natural way. In the same manner we also show that depth-from-zoom algorithms, developed for zooming cameras, can be exploited also in the foveal-peripheral eye configuration present in the Armar-III humanoid robot.

Categories

computer vision.

Author keywords

Active contours, motion estimation, depth from zoom

Scientific reference

G. Alenyà and C. Torras. Monocular object pose computation with the foveal-peripheral camera of the humanoid robot Armar-III, 11th Catalan Conference on Artificial Intelligence, 2008, Sant Martí d'Empúries, Spain, in Artificial Intelligence Research and Development, Vol 184 of Frontiers in Artificial Intelligence and Applications, pp. 355-362, 2008, IOS Press.