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In this paper we provide a broad survey of developments in active vision in robotic applications over the last 15 years. With increasing demand for robotic automation, research in this area has received much attention. Among the many factors that can be attributed to a high-performance robotic system, the planned sensing or acquisition of perceptions on the(More)
—A structured light vision system using pattern projection is useful for robust reconstruction of three-dimensional objects. One of the major tasks in using such a system is the calibration of the sensing system. This paper presents a new method by which a two-degree-of-freedom structured light system can be automatically recalibrated, if and when the(More)
Structured light vision systems have been successfully used for accurate measurement of 3-D surfaces in computer vision. However, their applications are mainly limited to scanning stationary objects so far since tens of images have to be captured for recovering one 3-D scene. This paper presents an idea for real-time acquisition of 3-D surface data by a(More)
—In this paper, we present an information entropy-based viewpoint-planning approach for reconstruction of freeform surfaces of three-dimensional objects. To achieve the reconstruction , the object is first sliced into a series of cross section curves, with each curve to be reconstructed by a closed B-spline curve. In the framework of Bayesian statistics, we(More)
A novel method is proposed in this paper for automatic acquisition of three-dimensional (3-D) models of unknown objects by an active vision system, in which the vision sensor is to be moved from one viewpoint to the next around the target to obtain its complete model. In each step, sensing parameters are determined automatically for incrementally building(More)