Scene reconstruction using a pan-tilt-zoom camera with a moving spherical mirror

Chen Yu Huang*, Chieh-Chih Wang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

3D scene reconstruction from 2D images can serve as a foundation for solving a number of robotics and computer vision problems such as robot navigation and 3D object recognition in which covering a large field of view could be critical. As conventional cameras have limited fields of view, we propose an approach to reconstruct large 3D scene models using a combination of a pan-tilt-zoom (PTZ) camera and a moving spherical mirror. The proposed system provides uncertainty estimates of the scene model. The uncertainty of moving spherical mirror detection and localization is represented using samples. Two images are used to computed a location measurement of a 3D point in the scene in which the combinations of the sample sets of the two mirror locations are exploited and location measurements of 3D points are represented using Gaussian distributions. Localization of 3D points in the scene is done using a Kalman filter. The experimental results demonstrate the feasibility of the proposed system.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages706-711
Number of pages6
StatePublished - 1 Dec 2009
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: 18 Aug 200921 Aug 2009

Publication series

NameICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Conference

ConferenceICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period18/08/0921/08/09

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  • Cite this

    Huang, C. Y., & Wang, C-C. (2009). Scene reconstruction using a pan-tilt-zoom camera with a moving spherical mirror. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 706-711). [5332946] (ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings).