Visual command of a robot using 3D-scene reconstruction in an augmented reality system
Résumé
This paper presents an augmented reality system that has been developed to reconstruct 3D scenes from a single camera's view. The camera is supposed to be calibrated in the world frame of reference. The 3D-model is known and correctly matched to its 2D-image. A 3D-object pose recovery algorithm that combines three methods to reach a better robustness and accuracy has been developed. A comparison between these methods is given, as well as a discussion about their advantages and drawbacks. Some experimental results on real images that demonstrate the robustness and the accuracy of the proposed system are presented as well as the visual command of a robot based upon the reconstructed scene.