Visual Trajectories from Uncalibrated Stereo
Résumé
This paper proposes a methodological framework for trajectory generation in projective space. The framework en-ables trajectories that respect rigidity constraints of structure and motion, that are furthermore uniform and optimal in terms of Euclidean configuration, eventhough no camera calibration is assumed. In a projective reconstruction of the scene, obtained e.g. from an uncalibrated stereo-rig, the homography between corresponding feature points on a rigid object in different positions is employed to represent its spatial configuration. From its algebraic structure -it is similar to a rigid motion -decoupling of rotation and translation, and uniform interpolation of trajectories are derived. Speaking in robotic terms, the merely point-to-point definitions of goals, as present in current approaches to visual servoing, are extended to a guarded motion along via points on complete-path trajectories which result from interpolation of a demanded type of motion. Translationonly, rotation-first, rotation-last task-functions are further explicited.
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