CISE Postdoctoral Program: Real-time Viewpoint Control, Modeling and Reconstruction

在这个项目中，努力将集中在(1)建立一个主动视觉系统，使用PUMA或SARCOS机械手来控制相机的位置，以及(2)使用和扩展现有的技术来从弯曲物体的遮挡轮廓图像中恢复形状。因为相机以连续的方式围绕物体移动，所以相机位置控制和模型构建将被建模为两个连续的、相互依赖的过程，它们同时发生并实时运行。摄像机位置控制的工作将集中在实时控制摄像机的位置，并施加尽可能少的摄像机和机械手校准要求。模型构建的工作将侧重于开发能够处理遮挡轮廓曲线连通性变化的实时曲线跟踪方法，以及实现和评估现有的形状-轮廓技术。这项研究将提供一个更好的理解在移动相机建立具有复杂表面几何形状的弯曲物体模型的实际问题。＊＊＊

9503996 Brown In this project the effort will be concentrated on (1) building an active vision system that uses PUMA or SARCOS manipulators to control the camera's position, and (2) using and extending existing techniques for recovering shape from images of a curved object's occluding contour. Because the camera moves around the object in a continuous fashion, camera position control and model-building will be modeled as two continuous, interdependent processes that occur simultaneously and operate in real-time. The work on camera position control will focus on controlling the camera's position in real-time, and on imposing as few camera and manipulator calibration requirements as possible. The work on model-building will focus on developing real-time curve tracking methods that can handle the connectivity changes of occluding contour curves, and on implementing and evaluating existing shape-from-contour techniques. This research will provide a better understanding of the practical issues in moving a camera to build models of curved objects with complex surface geometry. ***