A camera motion strategy to localize uncertain 3D lines

Abstract

In this paper we propose a sensing strategy to determine the 3D location of a straight line with a mobile camera on a robot hand. This strategy balances the trade-off between the uncertainty reduction and the matching problem when a line is observed. It avoids integrating images that do not reduce the uncertainty location of the line. At every step, the next camera movement is computed from the information provided by the interpretation of previous images in order to optimize the matching and the uncertainty reduction. The 3D location of the line is computed by the integration of its observations with an information filter.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>