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Experimental Robotics IV pp 195–203Cite as

Experiments with a real-time structure-from-motion system

  • Chapter 5 Perception
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 223))

Abstract

We present a real-time system for the reconstruction of shape and motion from a sequence of single-scanline images. With this system, experiments on reconstruction can be run effortlessly and make it possible to explore the delicate sensitivity aspects of the problem. We identify three singular values of a certain matrix of image measurements as the key elements for a sensitivity analysis. Our experiments suggest that reconstruction is feasible with sufficient accuracy at least for navigation.

This research was supported by the NSF under contracts IRI-9496205 and IRI-9509149

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References

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Author information

Authors and Affiliations

  1. Computer Science Department, Stanford, USA

    Carlo Tomasi, John Zhang & David Redkey

Authors
  1. Carlo Tomasi
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  2. John Zhang
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  3. David Redkey
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Editor information

Oussama Khatib J. Kenneth Salisbury

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© 1997 Springer-Verlag London Limited

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Tomasi, C., Zhang, J., Redkey, D. (1997). Experiments with a real-time structure-from-motion system. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035210

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  • DOI: https://doi.org/10.1007/BFb0035210

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76133-4

  • Online ISBN: 978-3-540-40942-7

  • eBook Packages: Springer Book Archive

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