3D Space Representation by Evolutive Algorithms

摘要

In this paper we present a system to obtain the representation of a 3D space using evolutive algorithms. Besides the evolutive algorithm, the proposed system is based on the mathematical principles of the vision stereo, particularly on stereoscopy. Vision stereo makes use of two images captured by a pair of cameras, in analogy to the mammalian vision system. Such images are employed to partially reconstruct the scene contained on them by some computational operations. In this work we employ only a camera, which is translated along a determined path, capturing the images every certain distance, providing the stereo images necessaries for reconstruction. As we can not perform all computations required for the total scene reconstruction, we employ an evolutionary algorithm to partially reconstruct the scene and obtain its representation. The evolutive algorithm employed is the fly algorithm [1], which employ spatial points named "flies" to reconstruct the principal characteristics of the world following the rules of evolution dictated by the algorithm.