Abstract: The ability to determine an object's position accurately and quickly is important in many robotics tasks. Monocular scene analysis based on perspective projection can be successfully used to solve this problem if a-priori knowledge on objects is available. In this paper analytic procedures for perspective inversion of quadrics of revolution - in particular for spheres, cones and cylinders - are presented. Preliminary experimental results on real images of a test object are provided, with the main goal to test the procedures accuracy and the suitability of the available low-level processing.!11
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