Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Estimation of Relative Camera Positions for Uncalibrated Cameras
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Camera Self-Calibration: Theory and Experiments
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Direct Methods for Self-Calibration of a Moving Stereo Head
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
3D Model Acquisition from Extended Image Sequences
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
The intelligent control based on perceiving-acting cycle by using 3D-range camera
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
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In this paper, we propose an active vision strategy for the construction of a 3D map in a robot brain from its stereo eye images. We show that, by the direct combination of its action and image change caused by the action, the robot can acquires a 3D accurate map in his brain. If the robot stereo cameras and his motion parameters have been calibrated, the obtained reconstruction of the static scene stays stationary. But, if not, the reconstructed scene changes according to the robot action. We utilise this change to modify the robot parameters so as to obtain stationary scene in his 3D map under the action. We show the feasibility of this idea as an auto-calibration of robot vision with some simulation experiments and implementation on actual robots.