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

Authors:
Guillem Alenyà;Carme Torras
Affiliations:
Institut de robòtica i Informàtica Industrial (CSIC-UPC);Institut de robòtica i Informàtica Industrial (CSIC-UPC)
Venue:
Proceedings of the 2008 conference on Artificial Intelligence Research and Development: Proceedings of the 11th International Conference of the Catalan Association for Artificial Intelligence
Year:
2008

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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.