Visual perception strategies for 3D reconstruction

Abstract

We propose in this paper an active vision approach for performing the 3D reconstruction of static scenes. The perception-action cycles are handled at various levels: from the definition of perception strategies for scene exploration downto the automatic generation of camera motions using visual servoing. To perform the reconstruction we use a structure from controlled motion method which allows a robust estimation of primitive parameters. As this method is based on particular camera motions, perceptual strategies able to appropriately perform a succession of such individual primitive reconstructions are proposed in order to recover the complete spatial structure of complex scenes. Two algorithms are proposed to ensure the exploration of the scene. The former is an incremental reconstruction algorithm based on the use of a prediction/verification scheme managed using decision theory and Bayes Nets. It allows the visual system to get a complete high level description of the observed part of the scene. The latter, based on the computation of new viewpointsC ensures the complete reconstruction of the scene.