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In this paper we present a new system for a mobile robot to generate an articulated scene model by analyzing complex dynamic 3D scenes. The system extracts essential knowledge about the foreground, like moving persons, and the background, which consists of all visible static scene parts. In contrast to other 3D reconstruction approaches, we suggest to additionally distinguish between static parts,...
This paper presents a modular software architecture based on a stereo camera system that makes real-time 3D perception, interaction and navigation for small humanoid robots possible. The hardware-independent architecture can be used for several purposes, like 3D visualisation, object recognition, self-localization, collision avoidance, etc. First of all, the intrinsic calibration parameters of the...
When dealing with humanoid vision, it is very important to take into account the velocity and complexity of the algorithms. This paper presents an efficient combination of basic algorithm with quadratic complexity. Our real time procedure gives an excellent representation of the 3D scene. This 3D reconstruction allows the humanoid to maneuver, as well as the robotic manipulation of objects.
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