visual servoing in non-rigid environments: a space-time ... · d santosh & c v jawahar...
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Visual Servoing in Non-Rigid Environments: A Space-Time Approachp pp
D Santosh & C V Jawahar
International Institute of Information Technology (IIIT),
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The Problem
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Desired Image I*
F
F*
Initial Image IF
Desired Pose F*
Challenges with Non-Rigidity
• Varying Pose• Non-rigid g
Correspondences• Model-free SolutionsModel free Solutions
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Challenges with Non-Rigidity
• Varying Pose• Non-rigid g
Correspondences• Model-free SolutionsModel free Solutions
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Space-Time Modeling
M d li D f ti• Modeling Deformations
Configuration of moving points
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Santosh, Jawahar. Visual Servoing in Non-Rigid Environments 6Non-Rigid Motion
Space-time Modeling
Pk = [Xk Yk Zk Tk]k [ k k k k]
pk = M Pkpk k
e(t) = c(t) – c(t)*e(t) c(t) c(t)
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Space-Time ModelingS*
s
S
sDesired Pose
R,t
Initial Pose
Desired Pose
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Camera Motion Estimation
Desired Pose
Initial Pose
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Degenerate Configurations
• Exploit the availability of p ymultiple planes
Hres = f (H1,H2, ..., Hn)
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Degenerate Configurations
• Exploit the availability of p ymultiple planes
Hres = f (H1,H2, ..., Hn)
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Final Control• Optimal Control (3D)
v α –t, ω α -uө • Feature Visibility• Hybrid Control• Hybrid Control
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Summary
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Santosh, Jawahar. Visual Servoing in Non-Rigid Environments 13
Experimental Analysis
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Santosh, Jawahar. Visual Servoing in Non-Rigid Environments 14Objects used in the experiments
ResultsTracked Interest Points
ResultsII
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Results
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Results
Camera Trajectory
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Summary & Future Work
• Enhanced VS to tackle non-rigid objects• Opens the door for various applications• Model the object using space-time features and
exploit the projective geometry between the views
l i i• Real time camera motion– Multiple view geometry in the space-time [Sato_ACCV06]
• Planarity Assumption
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Planarity Assumption
Thank You!
D SantoshD SantoshIIIT Hyderabad
http://research.iiit.ac.in/~santoshhttp://cvit.iiit.ac.in/projects/roboticVision
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Publications• ‘Visual Servoing in presence of Non Rigid Motion’• Visual Servoing in presence of Non-Rigid Motion ,
– Accepted at International Conference on Pattern Recognition (ICPR) 2006
• ‘Robust Homography based Control for Camera Positioning in• Robust Homography-based Control for Camera Positioning in Piecewise Planar Environments’, – Accepted at Indian Conference on Computer Vision, Graphics and Image
Processing (ICVGIP) 2006Processing (ICVGIP) 2006• ‘Visual Servoing in Non-Rigid Environments: A Space-Time
Approach’– International Conference on Robotics and Automation (ICRA) 2007
• ‘Visual Servoing in Non-Rigid Environments’– In Preparation for IEEE Transactions on Robotics (ITRO) 2007
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