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Papers

PI-875.ps.Z Applying the Synchronous Approach for Real Time
Active Visual Reconstruction

Eric Marchand, Eric Rutten, Fran,cois Chaumette

29 pages - octobre 1994

Abstract :

In this paper, we apply the synchronous approach to real
time active visual reconstruction. It illustrates the adequate-
ness of Signal, a synchronous data flow programming language
and environment, for the specification of a system dealing with
various domains such as robot control, computer vision and pro-
grammation of hierarchical parallel automaton.More precisely,
one application consists in the 3D structure estimation of a set
of geometrical primitives using an active vision paradigm. At
the level of camera motion control, the visual servoing approach
(a closed loop with respect to vision data) is specified and im-
plemented in Signal as a function from sensor inputs to control
outputs. Furthermore, the 3D reconstruction method is based on
the "structure from controlled motion" approach (constraining
camera motion for optimal estimation). Its specification is made
in parallel to visual servoing, and involves the delay mechanism
of Signal for the specification of filters. This reconstruction
involves focusing on each object; we thus present a perception
strategy for connecting up several estimations, using tasks hi-
erarchies interruption and time intervals in Signal. The inte-
gration of these techniques is validated experimentally by their
implementation on a robotic cell, from which we present experi-
mental results.