Active Structure From Motion: Application to Point, Sphere, and Cylinder

@article{Spica2014ActiveSF,
  title={Active Structure From Motion: Application to Point, Sphere, and Cylinder},
  author={Riccardo Spica and Paolo Robuffo Giordano and François Chaumette},
  journal={IEEE Transactions on Robotics},
  year={2014},
  volume={30},
  pages={1499-1513}
}
In this paper, we illustrate the application of a nonlinear active structure estimation from motion (SfM) strategy to three problems, namely 3-D structure estimation for 1) a point, 2) a sphere, and 3) a cylinder. In all three cases, an appropriate parameterization reduces the problem to the estimation of a single quantity. Knowledge of this estimated quantity and of the available measurements allows for then retrieving the full 3-D structure of the observed objects. Furthermore, in the point… CONTINUE READING

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