Head-mounted 3D multi sensor system for modeling in daily-life environment

Model-based approaches in recognition and planning of robots work effectively, and these approaches can apply to model-less situation using autonomous model construction by an agent. There are problems about segmentation or shape fitting of various objects with different scales or shapes. In this paper, we construct a Head-mounted 3D multi sensor for 3D environment modeling and propose a method of 3D reconstruction for various objects using intentional behavior of human.

[1]  Richard A. Volz,et al.  Estimating 3-D location parameters using dual number quaternions , 1991, CVGIP Image Underst..

[2]  Maneesh Agrawala,et al.  Using Photographs to Enhance Videos of a Static Scene , 2007, Rendering Techniques.

[3]  Takeo Kanade,et al.  Shape and motion from image streams under orthography: a factorization method , 1992, International Journal of Computer Vision.

[4]  Masayuki Inaba,et al.  A Simultaneous Estimation Method of Camera Pose and Environment Model using Head Mounted Stereo Vision , 2008 .

[5]  Richard Szeliski,et al.  Modeling the World from Internet Photo Collections , 2008, International Journal of Computer Vision.

[6]  Hiroshi Mizoguchi,et al.  Robotic room: Symbiosis with human through behavior media , 1996, Robotics Auton. Syst..

[7]  Kazuhiko Sumi,et al.  3D Digitization of a Hand-Held Object with a Wearable Vision Sensor , 2004, ECCV Workshop on HCI.

[8]  Carlo Tomasi,et al.  Good features to track , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[9]  Masatoshi Ishikawa.  Parallel Processing Architecture For Sensory Information , 1995, Proceedings of the International Solid-State Sensors and Actuators Conference - TRANSDUCERS '95.

[10]  Olivier Stasse,et al.  MonoSLAM: Real-Time Single Camera SLAM , 2007, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[11]  Rodney A. Brooks,et al.  Model-Based Computer Vision , 1984 .

[12]  Masayuki Inaba,et al.  Plane segment finder: algorithm, implementation and applications , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[13]  Masayuki Inaba,et al.  Manipulation and recognition of objects incorporating joints by a humanoid robot for daily assistive tasks , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  T. Funkhouser,et al.  A planar-reflective symmetry transform for 3D shapes , 2006, SIGGRAPH '06.

[15]  W. Eric L. Grimson,et al.  Finding cylinders in range data , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[16]  Masayuki Inaba,et al.  View-Based Approach to Robot Navigation , 2002 .

[17]  Steve Mann,et al.  Wearable Computing: A First Step Toward Personal Imaging , 1997, Computer.