Applying the Synchronous Approach for Real Time Active Visual Reconstruction

摘要: In this paper, we apply the synchronous approach to real time active visual reconstruction. It illustrates adequateness of signal, a data flow programming language and environment, for specification system dealing with various domains such as robot control, computer vision programmation hierarchical parallel automaton. More precisely, one application consists in 3D structure estimation set geometrical primitives using an paradigm. At level camera motion servoing (a closed loop respect data) is specified implemented \sc Signal function from sensor inputs control outputs. Furthermore, reconstruction method based on ``structure controlled motion'' (constraining optimal estimation). Its made servoing, involves delay mechanism \signal\ filters. This focusing each object; thus present perception strategy connecting up several estimations, tasks hierarchies interruption intervals \signal. The integration these techniques validated experimentally by their implementation robotic cell, which experimental results.