Cyclorotation Models for Eyes and Cameras (2010)
The human visual system obeys Listing's law, which means that the cyclo-rotation of the eye (around the line of sight) can be predicted from the direction of the fixation point. It is shown here that...
Cyclorotation Models for Eyes and Cameras (2010)
The human visual system obeys Listing's law, which means that the cyclo-rotation of the eye (around the line of sight) can be predicted from the direction of the fixation point. It is shown here that...
Human Motion Tracking by Registering an Articulated Surface to 3-D Points and Normals (2009)
Radu Horaud, Matti Niskanen, Guillaume Dewaele, Edmond Boyer
Abstract — We address the problem of human motion tracking by registering a surface to 3-D data. We propose a method that iteratively computes two things: Maximum likelihood estimates for both the...
Detection and Localization of 3D Audio-Visual Objects Using Unsupervised Clustering (2009)
Vasil Khalidov, Florence Forbes, Miles Hansard, Elise Arnaud, Radu Horaud
This paper addresses the issues of detecting and localizing objects in a scene that are both seen and heard. We explain the benefits of a human-like configuration of sensors (binaural and binocular)...
Cyclopean geometry of binocular vision (2009)
The geometry of binocular projection is analyzed in relation to the primate visual system. An oculomotor parameterization that includes the classical vergence and version angles is defined. It is...
A Quasi Linear Reconstruction Method from Multiple Perspective Views * (2009)
In this paper we describe a method for solving the Euclidean reconstruction problem with a perspective camera model by incrementally performing an Euclidean reconstruction with a weak perspective...
Articulated Shape Matching Using Laplacian Eigenfunctions and Unsupervised Point Registration (2009)
Diana Mateus, Radu Horaud, David Knossow, Fabio Cuzzolin, Edmond Boyer
Matching articulated shapes represented by voxel-sets reduces to maximal sub-graph isomorphism when each set is described by a weighted graph. Spectral graph theory can be used to map these graphs...
Abstract { Whenever a sensor is mounted on a robot hand it is important toknow the relationship between the sensor and the hand. The problem of determining this relationship is referred to as the...
Articulated Shape Matching by Robust Alignment of Embedded Representations (2009)
Diana Mateus, Fabio Cuzzolin, Radu Horaud, Edmond Boyer
In this paper we propose a general framework to solve the articulated shape matching problem, formulated as finding point-to-point correspondences between two shapes represented by 2-D or 3-D point...
Audio-Visual Clustering for Multiple Speaker Localization (2009)
Vasil Khalidov, Florence Forbes, Miles Hansard, Elise Arnaud, Radu Horaud
Abstract. We address the issue of identifying and localizing individuals in a scene that contains several people engaged in conversation. We use a human-like configuration of sensors (binaural and...
Robust Factorization Methods Using a Gaussian/Uniform Mixture Model (2009)
this paper we address the problem of building a class of robust factorization algorithms that solve for the shape and motion parameters with both affine (weak perspective) and perspective camera...
Coherent Laplacian 3-D protrusion segmentation (2009)
Fabio Cuzzolin, Diana Mateus, David Knossow, Edmond Boyer, Radu Horaud
In this paper, an analysis of locally linear embedding (LLE) in the context of clustering is developed. As LLE conserves the local affine coordinates of points, shape protrusions as high-curvature...
Camera-Clustering for Multi-Resolution 3–D Surface Reconstruction (2009)
Andrei Zaharescu, Cedric Cagniart, Slobodan Ilic, Edmond Boyer, Radu Horaud
Abstract. In this paper we propose a framework for piecewise mesh-based 3D reconstruction from a set of calibrated images. Most of the existing approaches consider all available images at once....
Temporal Surface Tracking using Mesh Evolution (2009)
Kiran Varanasi, Andrei Zaharescu, Edmond Boyer, Radu Horaud
Abstract. In this paper, we address the problem of surface tracking in multiple camera environments and over time sequences. In order to fully track a surface undergoing significant deformations, we...
David Knossow, Rémi Ronfard, Radu Horaud, David Knossow, Rémi Ronfard, Radu Horaud, ...
Abstract: This report addresses the problem of human motion tracking from image sequences. The human body is described by an articulated mechanical chain and human body-parts are described by...
Short Papers On Single-Scanline Camera Calibration (2009)
Radu Horaud, Roger Mohr, Boguslaw Lorecki
Abstract-A method for calibrating single scanline CCD cameras is described in this paper. We show that the more classical 2-D camera calibration techniques are necessary but not suflicient for...
Projective structure and motion from two views of a piecewise planar scene (2009)
Adrien Bartoli, Peter Sturm, Radu Horaud
In this paper, we address the problem of structure and motion recovery from two views of a scene containing planes, i.e. sets of coplanar points. Most of the existing works do only exploit this...
Human motion tracking with a kinematic parameterization of extremal contours (2009)
David Knossow, Rémi Ronfard, Radu Horaud, D. Knossow, R. Ronfard, R. Horaud
Abstract This paper addresses the problem of human motion tracking from multiple image sequences. The human body is described by five articulated mechanical chains and human body-parts are described...
On-line Hand-Eye Calibration (2009)
Nicolas Andre, Radu Horaud, Bernard Espiau
In this paper, we address the problem of hand-eye calibration of a robot mounted video camera. In a rst time, we derive a new linear formulation of the problem. This allows an algebraic analysis of...
A Joint Framework for Disparity and Surface Normal Estimation (2009)
Narasimha, Ramya, Arnaud, Elise, Forbes, Florence, Horaud, Radu
This paper deals with the stereo matching problem, while moving away from the traditional fronto-parallel assumption. We propose an algorithm that provides disparities in accordance with the surface...
A Joint Framework for Disparity and Surface Normal Estimation (2009)
Narasimha, Ramya, Arnaud, Elise, Forbes, Florence, Horaud, Radu
This paper deals with the stereo matching problem, while moving away from the traditional fronto-parallel assumption. We propose an algorithm that provides disparities in accordance with the surface...
Rigid and Articulated Point Registration with Expectation Conditional Maximization (2009)
Horaud, Radu, Forbes, Florence, Yguel, Manuel, Dewaele, Guillaume, Zhang, Jian
This paper addresses the issue of matching rigid and articulated shapes through probabilistic point registration. The problem is recast into a missing data framework where unknown correspondences are...
Rigid and Articulated Point Registration with Expectation Conditional Maximization (2009)
Horaud, Radu, Forbes, Florence, Yguel, Manuel, Dewaele, Guillaume, Zhang, Jian
This paper addresses the issue of matching rigid and articulated shapes through probabilistic point registration. The problem is recast into a missing data framework where unknown correspondences are...
Rigid and Articulated Point Registration with Expectation Conditional Maximization (2009)
Horaud, Radu, Forbes, Florence, Yguel, Manuel, Dewaele, Guillaume, Zhang, Jian
This paper addresses the issue of matching rigid and articulated shapes through probabilistic point registration. The problem is recast into a missing data framework where unknown correspondences are...
Articulated Shape Matching Using Locally Linear Embedding and Orthogonal Alignment (2008)
Diana Mateus, Fabio Cuzzolin, Radu Horaud, Edmond Boyer
In this paper we propose a method for matching articulated shapes represented as large sets of 3D points by aligning the corresponding embedded clouds generated by locally linear embedding. In...
Estimating sensor pose from images of a stereo rig (2008)
Ouided Bentrah, Nicolas Paparoditis, Marc Pierrot-deseilligny, Radu Horaud
In this paper we investigate the estimation of pose of images provided by a rigid stereo rig on a mobile mapping system called STERE-OPOLIS developped at IGN in the ARCHI project of the MATIS...
Articulated Shape Matching by Robust Alignment of Embedded Representations (2008)
Diana Mateus, Fabio Cuzzolin, Radu Horaud, Edmond Boyer
In this paper we propose a general framework to solve the articulated shape matching problem, formulated as finding point-to-point correspondences between two shapes represented by 2-D or 3-D point...
Figure-Ground Discrimination: A Combinatorial Optimization Approach (2008)
Abstract-h this paper, we attack the figure-ground discrim-ination problem from a combinatorial optimization perspective. In general, the solutions proposed in the past solved this prob-lem only...
Patterns of Binocular Disparity for a Fixating Observer (2008)
Abstract. Binocular information about the structure of a scene is contained in the relative positions of corresponding points in the two views. If the eyes rotate, in order to fixate a different...
Autocalibration in the presence of critical (2008)
David Demirdjian, Gabriella Csurka, Radu Horaud
motions
Multiple Camera Calibration using Robust Perspective Factorization (2008)
Andrei Zaharescu, Radu Horaud, Rémi Ronfard, Loic Lefort
In this paper we address the problem of recovering structure and motion from a large number of intrinsically calibrated perspective cameras. We describe a method that combines (1) weak-perspective...
TransforMesh: A Topology-Adaptive Mesh-Based Approach to Surface Evolution (2008)
Andrei Zaharescu, Edmond Boyer, Radu Horaud
Abstract. Most of the algorithms dealing with image based 3-D reconstruction involve the evolution of a surface based on a minimization criterion. The mesh parametrization, while allowing for an...
Nicolas Andreff, Radu Horaud, Bernard Espiau, Nicolas Andreff, Radu Horaud, Bernard Espiau
In this paper, we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques require a calibration rig that is used in conjunction with...
Machine Vision Group Perception Group (2008)
Matti Niskanen, Edmond Boyer, Radu Horaud, Infotech Oulu, Inria Rhône-alpes
In this paper we address the problem of tracking the motion of articulated objects from their 2-D silhouettes gathered with several cameras. The vast majority of existing approaches relies on a...
DOI 10.1007/s00138-005-0182-9 ORIGINAL PAPER (2008)
Radu Horaud, David Knossow, Markus Michaelis
Abstract In this paper we address the problem of establishing a computational model for visual attention using cooperation between two cameras. More specifically we wish to maintain a visual event...
Nicolas Andreff, Bernard Espiau, Radu Horaud, Nicolas Andreff, Bernard Espiau, Radu Horaud
In this paper, we present a new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations, which allows us to define a new...
Frederick Martin, Radu Horaud, Frédérick Martin, Radu Horaud
655, avenue de l’Europe
Andreas Ruf, Radu Horaud, Andreas Ruf, Radu Horaud
Visual servoing of robot manipulators is a key technique where the appearance of an object in the image plane is used to control the velocity of the end-effector such that the desired position is...
Active hearing, active speaking (2008)
Martin Cooke, Yan-chen Lu, Youyi Lu, Radu Horaud
A static view of the world permeates most research in speech and hearing. In this idealised situation, sources don’t move and neither do listeners; the acoustic environment doesn’t change; and...
Cooperative disparity and object boundary estimation (2008)
Narasimha, Ramya, Arnaud, Elise, Forbes, Florence, Horaud, Radu
In this paper we carry out cooperatively both disparity and object boundary estimation by setting the two tasks in a unified Markovian framework. We introduce a new joint probabilistic model that...
Cooperative disparity and object boundary estimation (2008)
Narasimha, Ramya, Arnaud, Elise, Forbes, Florence, Horaud, Radu
In this paper we carry out cooperatively both disparity and object boundary estimation by setting the two tasks in a unified Markovian framework. We introduce a new joint probabilistic model that...
Tracking Articulated Bodies using Generalized Expectation Maximization (2008)
Fossati, Andrea, Arnaud, Elise, Horaud, Radu, Fua, Pascal
A generalized expectation maximization (GEM) algorithm is used to retrieve the pose of a person from a monocular video sequence shot with a moving camera. After embedding the set of possible poses in...
Camera-Clustering for Multi-Resolution 3D Surface Reconstruction (2008)
Zaharescu, Andrei, Cagniart, Cedric, Ilic, Slobodan, Boyer, Edmond, Horaud, Radu
In this paper we propose a framework for piecewise mesh-based 3D reconstruction from a set of calibrated images. Most of the existing approaches consider all available images at once. However, this...
Camera-Clustering for Multi-Resolution 3–D Surface Reconstruction (2008)
Zaharescu, Andrei, Cagniart, Cedric, Ilic, Slobodan, Boyer, Edmond, Horaud, Radu
In this paper we propose a framework for piecewise mesh-based 3D reconstruction from a set of calibrated images. Most of the existing approaches consider all available images at once. However, this...
Audio-Visual Clustering for Multiple Speaker Localization (2008)
Khalidov, Vasil, Forbes, Florence, Hansard, Miles, Arnaud, Elise, Horaud, Radu
We address the issue of identifying and localizing individuals in a scene that contains several people engaged in conversation. We use a human-like configuration of sensors (binaural and binocular)...
Tracking articulated bodies using generalized expectation maximization (2008)
Fossati, Andrea, Arnaud, Elise, Horaud, Radu, Fua, Pascal
A Generalized Expectation Maximization (GEM) algorithm is used to retrieve the pose of a person from a monocular video sequence shot with a moving camera. After embedding the set of possible poses in...
The CAVA corpus: synchronised stereoscopic and binaural datasets with head movements (2008)
Arnaud, Elise, Christensen, Heidi, Lu, Yan-Chen, Barker, Jon, Khalidov, Vasil, Hansard, Miles, ...
This paper describes the acquisition and content of a new multi-modal database. Some tools for making use of the data streams are also presented. The Computational Audio- Visual Analysis (CAVA)...
Detection and Localization of 3D Audio-Visual Objects Using Unsupervised Clustering (2008)
Khalidov, Vasil, Forbes, Florence, Hansard, Miles, Arnaud, Elise, Horaud, Radu
This paper addresses the issues of detecting and localizing objects in a scene that are both seen and heard. We explain the benefits of a human-like configuration of sensors (binaural and binocular)...
The CAVA corpus: synchronised stereoscopic and binaural datasets with head movements (2008)
Arnaud, Elise, Christensen, Heidi, Lu, Yan-Chen, Barker, Jon, Khalidov, Vasil, Hansard, Miles, ...
This paper describes the acquisition and content of a new multi-modal database. Some tools for making use of the data streams are also presented. The Computational Audio- Visual Analysis (CAVA)...
Detection and Localization of 3D Audio-Visual Objects Using Unsupervised Clustering (2008)
Khalidov, Vasil, Forbes, Florence, Hansard, Miles, Arnaud, Elise, Horaud, Radu
This paper addresses the issues of detecting and localizing objects in a scene that are both seen and heard. We explain the benefits of a human-like configuration of sensors (binaural and binocular)...
Audio-Visual Clustering for Multiple Speaker Localization (2008)
Khalidov, Vasil, Forbes, Florence, Hansard, Miles, Arnaud, Elise, Horaud, Radu
We address the issue of identifying and localizing individuals in a scene that contains several people engaged in conversation. We use a human-like configuration of sensors (binaural and binocular)...
Tracking articulated bodies using generalized expectation maximization (2008)
Fossati, Andrea, Arnaud, Elise, Horaud, Radu, Fua, Pascal
A Generalized Expectation Maximization (GEM) algorithm is used to retrieve the pose of a person from a monocular video sequence shot with a moving camera. After embedding the set of possible poses in...
Cyclopean geometry of binocular vision (2008)
The geometry of binocular projection is analyzed in relation to the primate visual system. An oculomotor parameterization that includes the classical vergence and version angles is defined. It is...
Cyclopean geometry of binocular vision (2008)
The geometry of binocular projection is analyzed in relation to the primate visual system. An oculomotor parameterization that includes the classical vergence and version angles is defined. It is...
Radu Horaud, Gabriella Csurka, David Demirdjian
In this paper we describe method for calibrating a stereo pair of cameras using general or planar motions. The method consists of upgrading a 3-D projective representation to affine and to Euclidean...
2 A short critical history of visual servoing 4 3 Epipolar geometry, 3-D reconstruction, and camera calibration
What metric stereo can do for visual servoing (2007)
Bart Lamiroy, Cyrille Puget, Radu Horaud
This paper describes a number of geometric tools that can be easily implemented in order to obtain a very robust visual servoing platform. Most often, visual servoing algorithms are either based on...
Projective Visual Servoing (2007)
Contents 1 Introduction 4 1.1 Mathematical notations . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2 Motion of a rigid body 5 2.1 Motion and coordinate frames . . . . . . . . . . . . . . . ....
Fast and Reliable Object Pose Estimation from Line Correspondences (2007)
. In this paper, we describe a fast object pose estimation method from 3-D to 2-D line correspondences using a perspective camera model. The principle consists in iteratively improving the pose...
Terminal Air-to-Ground Missile Guidance by Infrared Seeker (2007)
St'ephane Christy, Bruno Mazar, Radu Horaud
In this paper, we describe a new method for terminal air-to-ground missile guidance based on infrared seeker. The aim is to hit a building which has been previously selected in a 3-D model of the...
Thme 3-- Interaction homme-machine, images, donn6es, connaissances (2007)
Nicolas Andreif, Bernard Espiau, Radu Horaud
Abstract: In this work, we present a fundamentally new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allowed us to...
images, donn0es, connaissances (2007)
Adrien Bartoli, Adrien Bartoli, Peter Sturm, Peter Sturm, Radu Horaud, Radu Horaud
Abstract. ' In this paper, we consider the problem of finding an optimal reconstruction from two views of a piecewise planar scene. We consider the general case of uncalibrated cameras, hence...
images, donn#es, connaissances (2007)
Magdalena Urbanek, Magdalena Urbanek, Radu Horaud, Radu Horaud, Peter Sturm, Peter Sturm, ...
apport de recherche
images, données, connaissances (2007)
Adrien Bartoli, Adrien Bartoli, Peter Sturm, Peter Sturm, Radu Horaud, Radu Horaud, ...
apport
Robot Hand-Bye Calibration usin (2007)
Nicolas Andreft, Radu Horaud, Bernard Espiau
The method we propose simplifies the practical procedure for hand-eye calibration. Indeed, no more calibration jig is needed and small calibration motions can be used. Without calibration jig, camera...
Visual Servoing Using Projective Kinematics (2007)
Andreas Ruf, Frédérick Martin, Bart Lamiroy, Radu Horaud
This paper presents a new approach to controlling a robot from video-feedback. In contrast to classical approaches, the entire system is modeled by means of projective geometry. For the robot’s...
de recherche Visual Servoing of Robot Manipulators Part I: Projective Kinematics (2007)
Andreas Ruf, Andreas Ruf, Radu Horaud, Radu Horaud, Projet Movi
apport
Andreas Ê, Radu Horaud, Examinateurs James
INSTITUT NATIONAL POLYTECHNIQUE (INP) de GRENOBLE
Image Matching with Scale Adjustment (2007)
Yves Dufoumaud, Yves Dufournaud, Cordelia Schmid, Cordelia Schmid, Radu Horaud, Radu Horaud
images, donnes, connaissances Pro jet MOVI
images, données, connaissances (2007)
Apport De Recherche, Radu Horaud, Radu Horaud, Gabriella Csurka, Gabriella Csurka, David Demirdjian, ...
This paper describes a method to upgrade projective reconstruction to a#ne and to metric reconstructions using rigid general or planar motions of a stereo rig. We make clear the algebraic...
de recherche Finding the Collineation Between two Projective (2007)
Apport De Recherche, Gabriella Csurka, Gabriella Csurka, Radu Horaud, Radu Horaud, Projet Movi
The problem of #nding the collineation between two 3-D projective reconstructions has been proved to be useful for a variety of tasks such as calibration of a stereo rig and 3-D a#ne and#or Euclidean...
de recherche Visual Servoing of Robot Manipulators Part I: Projective Kinematics (2007)
Andreas Ruf, Andreas Ruf, Radu Horaud, Radu Horaud, Projet Movi
apport
Calibration de Caméras Numériques Amateurs (2007)
Magdalena Urbanek, Magdalena Urbanek, Radu Horaud, Radu Horaud, Peter Sturm, ...
Weintroduce a novel outlook on the self-calibration task, by considering images taken by a camera in motion, allowing for zooming and focusing. Apart from the complex relationship between the lens...
Human Motion Tracking with a Kinematic Parametrization of Extremal Contours (2006)
Knossow, David, Ronfard, Rémi, Horaud, Radu
This report addresses the problem of human motion tracking from image sequences. The human body is described by an articulated mechanical chain and human body-parts are described by volumetric...
Human Motion Tracking with a Kinematic Parametrization of Extremal Contours (2006)
Knossow, David, Ronfard, Rémi, Horaud, Radu
This report addresses the problem of human motion tracking from image sequences. The human body is described by an articulated mechanical chain and human body-parts are described by volumetric...
Human Motion Tracking with a Kinematic Parametrization of Extremal Contours (2006)
Knossow, David, Ronfard, Rémi, Horaud, Radu
This report addresses the problem of human motion tracking from image sequences. The human body is described by an articulated mechanical chain and human body-parts are described by volumetric...
Human Motion Tracking with a Kinematic Parametrization of Extremal Contours (2006)
Knossow, David, Ronfard, Rémi, Horaud, Radu
This report addresses the problem of human motion tracking from image sequences. The human body is described by an articulated mechanical chain and human body-parts are described by volumetric...
Human Motion Tracking with a Kinematic Parametrization of Extremal Contours (2006)
Knossow, David, Ronfard, Rémi, Horaud, Radu
This report addresses the problem of human motion tracking from image sequences. The human body is described by an articulated mechanical chain and human body-parts are described by volumetric...
Tracking with the Kinematics of Extremal Contours (2006)
Knossow, David, Ronfard, Rémi, Horaud, Radu, Devernay, Frédéric
This paper addresses the problem of articulated motion tracking from image sequences. We describe a method that relies on an explicit parameterization of the extremal contours in terms of the joint...
The Alignment Between 3-D Data and Articulated Shapes with Bending Surfaces (2006)
Dewaele, Guillaume, Devernay, Frédéric, Horaud, Radu, Forbes, Florence
In this paper we address the problem of aligning 3-D data with articulated shapes. This problem resides at the core of many motion tracking methods with applications in human motion capture, action...
Tracking with the Kinematics of Extremal Contours (2006)
Knossow, David, Ronfard, Rémi, Horaud, Radu, Devernay, Frédéric
This paper addresses the problem of articulated motion tracking from image sequences. We describe a method that relies on an explicit parameterization of the extremal contours in terms of the joint...
The Alignment Between 3-D Data and Articulated Shapes with Bending Surfaces (2006)
Dewaele, Guillaume, Devernay, Frédéric, Horaud, Radu, Forbes, Florence
In this paper we address the problem of aligning 3-D data with articulated shapes. This problem resides at the core of many motion tracking methods with applications in human motion capture, action...
The Alignment Between 3-D Data and Articulated Shapes with Bending Surfaces (2006)
Guillaume Dewaele, Frédéric Devernay, Radu Horaud, Florence Forbes
Abstract. In this paper we address the problem of aligning 3-D data with articulated shapes. This problem resides at the core of many motion tracking methods with applications in human motion...
F.: Tracking with the kinematics of extremal contours (2006)
David Knossow, Rémi Ronfard, Radu Horaud, Frédéric Devernay
Abstract. This paper addresses the problem of articulated motion tracking from image sequences. We describe a method that relies on an explicit parameterization of the extremal contours in terms of...
Articulated-body Tracking through Anisotropic Edge Detection (2006)
David Knossow, Radu Horaud, Rémi Ronfard
Abstract. This paper addresses the problem of articulated motion tracking from image sequences. We describe a method that relies on both an explicit parameterization of the extremal contours and on...
The Alignment Between 3-D Data and Articulated Shapes with Bending Surfaces (2006)
Guillaume Dewaele, Frédéric Devernay, Radu Horaud, Florence Forbes
Abstract. In this paper we address the problem of aligning 3-D data with articulated shapes. This problem resides at the core of many motion tracking methods with applications in human motion...
F.: Tracking with the kinematics of extremal contours (2006)
David Knossow, Rémi Ronfard, Radu Horaud, Frédéric Devernay
Abstract. This paper addresses the problem of articulated motion tracking from image sequences. We describe a method that relies on an explicit parameterization of the extremal contours in terms of...
During this period I had research contribution in two fields: computer vision and robotics. My main contribution in the field of computer vision has been to study, model, and implement the coupling...
Camera cooperation for achieving visual attention (2004)
Horaud, Radu, Knossow, David, Michaelis, Markus
In this report we address the problem of establishing a computational model for visual attention using cooperation between two cameras. More specifically we wish to maintain a visual event within the...
Camera cooperation for achieving visual attention (2004)
Horaud, Radu, Knossow, David, Michaelis, Markus
In this report we address the problem of establishing a computational model for visual attention using cooperation between two cameras. More specifically we wish to maintain a visual event within the...
Bartoli, Adrien, Dalal, Navneet, Horaud, Radu
In this paper we describe a method for analysing video sequences and for representing them as mosaics or panoramas. Previous work on video mosaicking essentially concentrated on static scenes. We...
Camera cooperation for achieving visual attention (2004)
Horaud, Radu, Knossow, David, Michaelis, Markus
In this report we address the problem of establishing a computational model for visual attention using cooperation between two cameras. More specifically we wish to maintain a visual event within the...
Bartoli, Adrien, Dalal, Navneet, Horaud, Radu
In this paper we describe a method for analysing video sequences and for representing them as mosaics or panoramas. Previous work on video mosaicking essentially concentrated on static scenes. We...
Bartoli, Adrien, Dalal, Navneet, Horaud, Radu
In this paper we describe a method for analysing video sequences and for representing them as mosaics or panoramas. Previous work on video mosaicking essentially concentrated on static scenes. We...
Bartoli, Adrien, Dalal, Navneet, Horaud, Radu
In this paper we describe a method for analysing video sequences and for representing them as mosaics or panoramas. Previous work on video mosaicking essentially concentrated on static scenes. We...
Hand Motion from 3D Point Trajectories and a Smooth Surface Model (2004)
Dewaele, Guillaume, Devernay, Frédéric, Horaud, Radu
A method is proposed to track the full hand motion from 3D points reconstructed using a stereoscopic set of cameras. This approach combines the advantages of methods that use 2D motion (e.g. optical...
Hand Motion from 3D Point Trajectories and a Smooth Surface Model (2004)
Dewaele, Guillaume, Devernay, Frédéric, Horaud, Radu
A method is proposed to track the full hand motion from 3D points reconstructed using a stereoscopic set of cameras. This approach combines the advantages of methods that use 2D motion (e.g. optical...
Camera cooperation for achieving visual attention (2004)
Radu Horaud, Radu Horaud, David Knossow, David Knossow, Markus Michaelis, Markus Michaelis
de recherche
Hand Motion from 3D Point Trajectories and a Smooth Surface Model (2004)
Guillaume Dewaele, Frédéric Devernay, Radu Horaud
Abstract. A method is proposed to track the full hand motion from 3D points on the surface of the hand that were reconstructed and tracked using a stereoscopic set of cameras. This approach combines...
3D Modelling From Images Using Geometric Constraints (2004)
Docteur De L’inpg, Marta Wilczkowiak, Peter Sturm, Radu Horaud, Roger Mohr Président, Edmond Boyer Examinateur, ...
présentée et soutenue publiquement par
Hand Motion from 3D Point Trajectories and a Smooth Surface Model (2004)
Guillaume Dewaele, Frédéric Devernay, Radu Horaud
Abstract. A method is proposed to track the full hand motion from 3D points reconstructed using a stereoscopic set of cameras. This approach combines the advantages of methods that use 2D motion...
Image Matching With Scale Adjustment (2004)
Yves Dufournaud Cordelia, Cordelia Schmid, Radu Horaud
In this paper we address the problem of matching two images with two di#erent resolutions: a high-resolution image and a low-resolution one. The di#erence in resolution between the two images is not...
Adrien Bartoli, Navneet Dalal, Radu Horaud
In this paper we describe a method for analysing video sequences and for representing them as mosaics or panoramas. Previous work on video mosaicking essentially concentrated on static scenes. We...
Hand Motion from 3D Point Trajectories and a Smooth Surface Model (2004)
Guillaume Dewaele, Frédéric Devernay, Radu Horaud
Abstract. A method is proposed to track the full hand motion from 3D points reconstructed using a stereoscopic set of cameras. This approach combines the advantages of methods that use 2D motion...
Image matching with scale adjustment (2004)
Yves Dufournaud, Cordelia Schmid, Radu Horaud
The`me 3-- Interaction homme-machine, images, donne'es, connaissances Projet MOVI Rapport de recherche nr ^ 4458---- 24 pages
Bartoli, Adrien, Dalal, Navneet, Horaud, Radu
In this paper we describe a method for analysing video sequences and for representing them as mosaics or panoramas. Previous work on video mosaicking essentially concentrated on static scenes. We...
Bartoli, Adrien, Dalal, Navneet, Horaud, Radu
In this paper we describe a method for analysing video sequences and for representing them as mosaics or panoramas. Previous work on video mosaicking essentially concentrated on static scenes. We...
Bartoli, Adrien, Dalal, Navneet, Horaud, Radu
In this paper we describe a method for analysing video sequences and for representing them as mosaics or panoramas. Previous work on video mosaicking essentially concentrated on static scenes. We...
Adrien Bartoli, Navneet Dalal, Radu Horaud
In this paper we describe a method for analysing video sequences and for representing them as mosaics or panoramas. Previous work on video mosaicking essentially concentrated on static scenes. We...
Image Matching with Scale Adjustment (2002)
Dufournaud, Yves, Schmid, Cordelia, Horaud, Radu
In this report we address the problem of matching two images with two different resolutions: a high-resolution image and a low-resolution one. The difference in resolution between the two images is...
Camera calibration: estimation, validation and software (2002)
Personnaz, Matthieu, Horaud, Radu
The software tele2 3.1 allows, in particular, to measure the intrinsic parameters of a camera. Nevertheless, a single measure do not allow to characterize the distribution associated to a parameter....
Image Matching with Scale Adjustment (2002)
Dufournaud, Yves, Schmid, Cordelia, Horaud, Radu
In this report we address the problem of matching two images with two different resolutions: a high-resolution image and a low-resolution one. The difference in resolution between the two images is...
Camera calibration: estimation, validation and software (2002)
Personnaz, Matthieu, Horaud, Radu
The software tele2 3.1 allows, in particular, to measure the intrinsic parameters of a camera. Nevertheless, a single measure do not allow to characterize the distribution associated to a parameter....
Image Matching with Scale Adjustment (2002)
Dufournaud, Yves, Schmid, Cordelia, Horaud, Radu
In this report we address the problem of matching two images with two different resolutions: a high-resolution image and a low-resolution one. The difference in resolution between the two images is...
Camera calibration: estimation, validation and software (2002)
Personnaz, Matthieu, Horaud, Radu
The software tele2 3.1 allows, in particular, to measure the intrinsic parameters of a camera. Nevertheless, a single measure do not allow to characterize the distribution associated to a parameter....
Visual servoing/tracking using central catadioptric images (2002)
Abstract. Visual control of robot motion may benefit from enhanced camera field of view. With traditional cameras the available fields of view are only enough to view a region around the observed...
Indexing key positions between multiple videos (2002)
Given two or more video sequences containing similar human activities (running, jumping, etc.) we want to devise a method which extracts spatio-temporal signatures associated with these activities,...
From video sequences to motion panoramas (2002)
Adrien Bartoli, Navneet Dalal, Biswajit Bose, Radu Horaud
We address the problem of constructing mosaics from video sequences taken by rotating cameras. In particular, we investigate the widespread case where the scene is not only static but may also...
Visual servoing/tracking using central catadioptric images (2002)
João P. Barreto, Frédérick Martin, Radu Horaud
Abstract. Visual control of robot motion may benefit from enhanced camera field of view. With traditional cameras the available fields of view are only enough to view a region around the observed...
From Video Sequences to Motion Panoramas (2002)
Adrien Bartoli Navneet, Adrien Bartoli, Navneet Dalal, Biswajit Bose, Radu Horaud
We address the problem of constructing mosaics from video sequences taken by rotating cameras. In particular, we investigate the widespread case where the scene is not only static but may also...
Indexing key positions between multiple videos (2002)
Given two or more video sequences containing similar human activities (running, jumping, etc.) we want to devise a method which extracts spatio-temporal signatures associated with these activities,...
Visual servoing/tracking using central catadioptric images (2002)
João P. Barreto, Frédérick Martin, Radu Horaud
Abstract. Visual control of robot motion may benefit from enhanced camera field of view. With traditional cameras the available fields of view are only enough to view a region around the observed...
Multiple-Camera Tracking of Rigid Objects (2001)
Martin, Frédérick, Horaud, Radu
In this paper we describe a method for tracking rigid objects using one or several cameras. The tracking process consists of aligning a 3-D model representation of an object with image contours by...
Calibration of Digital Amateur Cameras (2001)
Urbanek, Magdalena, Horaud, Radu, Sturm, Peter
We introduce a novel outlook on the self-calibration task, by considering images taken by a camera in motion, allowing for zooming and focusing. Apart from the complex relationship between the lens...
Visual Servoing from Lines (2001)
Andreff, Nicolas, Espiau, Bernard, Horaud, Radu
In this work, we present a fundamentally new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allowed us to define a...
Multiple-Camera Tracking of Rigid Objects (2001)
Martin, Frédérick, Horaud, Radu
In this paper we describe a method for tracking rigid objects using one or several cameras. The tracking process consists of aligning a 3-D model representation of an object with image contours by...
Calibration of Digital Amateur Cameras (2001)
Urbanek, Magdalena, Horaud, Radu, Sturm, Peter
We introduce a novel outlook on the self-calibration task, by considering images taken by a camera in motion, allowing for zooming and focusing. Apart from the complex relationship between the lens...
Visual Servoing from Lines (2001)
Andreff, Nicolas, Espiau, Bernard, Horaud, Radu
In this work, we present a fundamentally new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allowed us to define a...
Multiple-Camera Tracking of Rigid Objects (2001)
Martin, Frédérick, Horaud, Radu
In this paper we describe a method for tracking rigid objects using one or several cameras. The tracking process consists of aligning a 3-D model representation of an object with image contours by...
Calibration of Digital Amateur Cameras (2001)
Urbanek, Magdalena, Horaud, Radu, Sturm, Peter
We introduce a novel outlook on the self-calibration task, by considering images taken by a camera in motion, allowing for zooming and focusing. Apart from the complex relationship between the lens...
Visual Servoing from Lines (2001)
Andreff, Nicolas, Espiau, Bernard, Horaud, Radu
In this work, we present a fundamentally new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allowed us to define a...
Structure and Motion from Two Uncalibrated Views Using Points on Planes (2001)
Adrien Bartoli, Peter Sturm, Radu Horaud
This paper is about the problem of structure and motion recovery from two views ' of a rigid scene. Especially, we deal with the case of scenes containing planes, i.e. there are sets ' of...
R.: Multiple-camera tracking of rigid objects (2001)
Frdrick Martin, Frdrick Martin, Radu Horaud, Radu Horaud, Projet Movi
apport de recherche
R.: Multiple-camera tracking of rigid objects (2001)
In this paper we describe a method for tracking rigid objects using one or several cameras. The tracking process consists of aligning a 3-D model representation of an object with image contours by...
Projective Structure and Motion from Two Views of a Piecewise Planar Scene (2001)
Adrien Bartoli, Peter Sturm, Radu Horaud
In this paper, we address the problem of structure and motion recovery from two views of a scene containing planes, i.e. sets ' of coplanar points'. Most of the existing works ' do...
Combining Off- and Online Calibration of a Digital Camera (2001)
Magdalena Urbanek, Radu Horaud, Peter Sturm
We introduce a novel outlook on the self-calibration task, by considering images taken by a camera in motion, allowing for zooming and focusing. Apart from the complex relationship between the lens...
Visual Servoing from Lines (2001)
Nicolas Andreff, Bernard Espiau, Radu Horaud
In this work, we present a fundamentally new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allowed us to de ne a...
Combining Off- and Online Calibration of a Digital Camera (2001)
Magdalena Urbanek, Radu Horaud, Peter Sturm
We introduce a novel outlook on the self-calibration task, by considering images taken by a camera in motion, allowing for zooming and focusing. Apart from the complex relationship between the lens...
Structure and Motion from Two Uncalibrated Views Using Points on Planes (2001)
Adrien Bartoli, Peter Sturm, Radu Horaud
This paper is about the problem of structure and motion recovery from two views of a rigid scene. Especially, we deal with the case of scenes containing planes, i.e. there are sets of coplanar...
Visual servoing from lines (2001)
Nicolas Andreff, Bernard Espiau, Radu Horaud
In this paper we present a new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allows us to define a new...
Bartoli, Adrien, Sturm, Peter, Horaud, Radu
In this paper, we consider the problem of finding an optimal reconstruction from two views of a piecewise planar scene. We consider the general case of uncalibrated cameras, hence place us in a...
Bartoli, Adrien, Sturm, Peter, Horaud, Radu
In this paper, we consider the problem of finding an optimal reconstruction from two views of a piecewise planar scene. We consider the general case of uncalibrated cameras, hence place us in a...
Bartoli, Adrien, Sturm, Peter, Horaud, Radu
In this paper, we consider the problem of finding an optimal reconstruction from two views of a piecewise planar scene. We consider the general case of uncalibrated cameras, hence place us in a...
Motion-egomotion discrimination and motion segmentation from image-pair streams (2000)
Given a sequence of image pairs we describe a method that segments the observed scene into static and moving objects while it rejects badly matched points. We show that, using a moving stereo rig,...
Matching images with different resolutions (2000)
Yves Dufournaud, Cordelia Schmid, Radu Horaud
In this paper we address the problem of matching two images with two different resolutions: a high-resolution image and a low-resolution one. On the premise that changes in resolution act as a...
Motion-egomotion discrimination and motion segmentation from image-pair streams (2000)
Given a sequence of image pairs we describe a method that segments the observed scene into static and moving objects while it rejects badly matched points. We show that, using a moving stereo rig,...
Controlling robots with two cameras: How to do it properly (2000)
Bart Lamiroy, Bernard Espiau, Nicolas Andreff, Radu Horaud
In this paper we address visual servoing through a fixed stereo rig using an image Jacobian. Existing methods are based on the stacking of monocular servo image Jacobians, resulting in largely...
Visual Servoing from Lines (2000)
Nicolas Andreff, Bernard Espiau, Radu Horaud
In this paper, we use an alternative formulation of the Euclidean Plucker coordinates to define the new of normalized Plucker coordinates alignment of lines. This concept is more relevant than usual...
Visual Servoing from Lines (2000)
Nicolas Andreff, Bernard Espiau, Radu Horaud
In this paper we present a new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allows us to define a new...
Robot Hand-Eye Calibration using Structure-from-Motion (2000)
Nicolas Andre, Radu Horaud, Bernard Espiau
The method we propose simpli es the practical procedure for hand-eye calibration. Indeed, no more calibration jig is needed and small calibration motions can be used. Without calibration jig, camera...
Stereo calibration from rigid motions (2000)
Radu Horaud, Gabriella Csurka, David Demirdijian
AbstractÐIn this paper, we describe a method for calibrating a stereo pair of cameras using general or planar motions. The method consists of upgrading a 3D projective representation to affine and...
Visual servoing from lines (2000)
Nicolas Andreff, Bernard Espiau, Radu Horaud
In this paper, we use an alternative formulation of the Euclidean Plucker coordinates to define the new of normalized Plucker coordinates alignment of lines. This concept is more relevant than usual...
Matching images with different resolutions (2000)
Yves Dufournaud, Cordelia Schmid, Radu Horaud
In this paper we address the problem of matching two images with two different resolutions: a high-resolution image and a low-resolution one. On the premise that changes in resolution act as a...
Visual Servoing of Robot Manipulators Part I : Projective Kinematics (1999)
Visual servoing of robot manipulators is a key technique where video images, i.e. the visual appearance of an object is used to control the end-effector. Most such methods use robots and cameras that...
Visual Servoing of Robot Manipulators Part I : Projective Kinematics (1999)
Visual servoing of robot manipulators is a key technique where video images, i.e. the visual appearance of an object is used to control the end-effector. Most such methods use robots and cameras that...
Visual Servoing of Robot Manipulators Part I : Projective Kinematics (1999)
Visual servoing of robot manipulators is a key technique where video images, i.e. the visual appearance of an object is used to control the end-effector. Most such methods use robots and cameras that...
Iterative pose computation from line correspondences (1999)
This paper presents a method for estimating the position and orientation of a camera with respect to a known 3-D object from line correspondences. The main idea of the method is to estimate a pose...
Finding the collineation between two projective reconstructions (1999)
Gabriella Csurka, David Demirdjian, Radu Horaud
The problem of finding the collineation between two 3D projective reconstructions has been proved to be useful for a variety of tasks such as calibration of a stereo rig and 3D affine and/or...
On-line Hand-Eye Calibration (1999)
Nicolas Andreif, Radu Horaud, Bernard Espiau
In this paper, we address the problem of hand-eye calibration of a robot mounted video camera. In a first time, we derive a new linear formulation of the problem. This allows an algebraic analysis of...
Visual servoing of robot manipulators, part I: Projective kinematics (1999)
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Projective rotations applied to a pan-tilt stereo head (1999)
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Rigid and articulated motion seen with an uncalibrated stereo rig (1999)
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Visual servoing of robot manipulators, part I: Projective kinematics (1999)
Visual servoing of robot manipulators is a key technique where the appearance of an object in the image plane is used to control the velocity of the endeffector such that the desired position is...
Rigid and Articulated Motion Seen with an Uncalibrated Stereo Rig (1999)
This paper establishes a link between uncalibrated stereo vision and the motion of rigid and articulated bodies. The variation in the projective reconstruction of a dynamic scene over time allows an...
Visual Servoing of Robot Manipulators Part I: Projective Kinematics (1999)
Andreas Ruf, Andreas Ruf, Radu Horaud, Radu Horaud, Projet Movi
Visual servoing of robot manipulators is a key technique where video images, i.e. the visual appearance of an object is used to control the end-eoeector. Most such methods use robots and cameras that...
Visual Servoing Using Projective Kinematics (1999)
Andreas Ruf, Frédérick Martin, Bart Lamiroy, Radu Horaud
This paper presents a new approach to controlling a robot from video-feedback. In contrast to classical approaches, the entire system is modeled by means of projective geometry. For the robot's...
Projective Rotations applied to a Pan-Tilt Stereo Head (1999)
A non-metric pan-tilt stereo-head consists of a weakly calibrated stereo rig mounted on a pan-tilt mechanism. It is called non-metric since neither the kinematics of the mechanism, nor camera...
Visual Control Using Projective Kinematics (1999)
Andreas Ruf, Frederick Martin, Bart Lamiroy, Radu Horaud
This paper presents a new approach to controlling a robot from video-feedback. In contrast to classical approaches, the entire system is modeled by means of projective geometry. For the robot's...
A Projective Framework for Scene Segmentation in the Presence of Moving Objects (1999)
Given a sequence of pairs of images gathered with an uncalibrated stereo camera pair and given a set of point-to-point correspondences between these image pairs, we describe a method that segments...
Iterative Pose Computation from Line Correspondences (1999)
This paper presents a method for estimating the position and orientation of a camera with respect to a known 3-D object from line correspondences. The main idea of the method is to estimate a pose...
Projective Rotations applied to a Pan-Tilt Stereo Head (1999)
A non-metric pan-tilt stereo-head consists of a weakly calibrated stereo rig mounted on a pan-tilt mechanism. It is called non-metric since neither the kinematics of the mechanism, nor camera...
Rigid and Articulated Motion Seen with an Uncalibrated Stereo Rig (1999)
This paper establishes a link between uncalibrated stereo vision and the motion of rigid and articulated bodies. The variation in the projective reconstruction of a dynamic scene over time allows an...
Stereo Calibration from Rigid Motions (1998)
Horaud, Radu, Csurka, Gabriella, Demirdjian, David
This paper describes a method to upgrade projective reconstruction to affine and to metric reconstructions using rigid general or planar motions of a stereo rig. We make clear the algebraic...
Finding the Collineation Between two Projective Reconstructions (1998)
Csurka, Gabriella, Horaud, Radu
The problem of finding the collineation between two 3-D projective reconstructions has been proved to be useful for a variety of tasks such as calibration of a stereo rig and 3-D affine and/or...
Une méthode d'auto-étalonnage pince-caméra (1998)
Andreff, N., Espiau, Bernard, Horaud, Radu
Ce travail est lié à l'asservissement visuel d'une caméra montée sur un bras robotique. La loi de commande d'un tel système dépend de la position/orientation relative de la caméra et du...
Stereo Calibration from Rigid Motions (1998)
Horaud, Radu, Csurka, Gabriella, Demirdjian, David
This paper describes a method to upgrade projective reconstruction to affine and to metric reconstructions using rigid general or planar motions of a stereo rig. We make clear the algebraic...
Finding the Collineation Between two Projective Reconstructions (1998)
Csurka, Gabriella, Horaud, Radu
The problem of finding the collineation between two 3-D projective reconstructions has been proved to be useful for a variety of tasks such as calibration of a stereo rig and 3-D affine and/or...
Une méthode d'auto-étalonnage pince-caméra (1998)
Andreff, N., Espiau, Bernard, Horaud, Radu
Ce travail est lié à l'asservissement visuel d'une caméra montée sur un bras robotique. La loi de commande d'un tel système dépend de la position/orientation relative de la caméra et du...
Stereo Calibration from Rigid Motions (1998)
Horaud, Radu, Csurka, Gabriella, Demirdjian, David
This paper describes a method to upgrade projective reconstruction to affine and to metric reconstructions using rigid general or planar motions of a stereo rig. We make clear the algebraic...
Finding the Collineation Between two Projective Reconstructions (1998)
Csurka, Gabriella, Horaud, Radu
The problem of finding the collineation between two 3-D projective reconstructions has been proved to be useful for a variety of tasks such as calibration of a stereo rig and 3-D affine and/or...
Projective translations and affine stereo calibration (1998)
Andreas Ruf, Gabriela Csurka, Radu Horaud
This paper investigates the homography which transforms a set of points in projective space when undergoing a rigid translation, termed a projective translation. A representation with seven...
Autocalibration in the presence of critical motions (1998)
David Demirdjian, Gabriella Csurka, Radu Horaud
Autocalibration is a difficult problem. Not only is its computation very noisesensitive, but there also exist many critical motions that prevent the estimation of some of the camera parameters. When...
Visually guided object grasping (1998)
Radu Horaud, Fadi Dornaika, Bernard Espiau
Abstract--- In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the...
Robot Stereo-hand Coordination for Grasping Curved Parts (1998)
Yves Dufournaud, Radu Horaud, Long Quan
In this paper we present an algorithm to compute set-point (i.e. a position to be reached by the robot) automatically from conic features virtually placed by an operator onto the object. We then use...
Projective Translations and Affine Stereo Calibration (1998)
Andreas Ruf Gabriela, Andreas Ruf, Gabriela Csurka, Radu Horaud
This paper investigates the homography which transforms a set of points in projective space when undergoing a rigid translation, termed a projective translation. A representation with seven...
Autocalibration in the Presence of Critical Motions (1998)
David Demirdjian, Gabriella Csurka, Radu Horaud
Autocalibration is a difficult problem. Not only is its computation very noisesensitive, but there also exist many critical motions that prevent the estimation of some of the camera parameters. When...
Finding the Collineation Between two Projective Reconstructions (1998)
Gabriella Csurka, Gabriella Csurka, Radu Horaud, Radu Horaud, Projet Movi
The problem of finding the collineation between two 3-D projective reconstructions has been proved to be useful for a variety of tasks such as calibration of a stereo rig and 3-D affine and/or...
Robot Stereo-hand Coordination for Grasping Curved Parts (1998)
Yves Dufournaud, Radu Horaud, Long Quan
In this paper we present an algorithm to compute set-point (i.e. a position to be reached by the robot) automatically from conic features virtually placed by an operator onto the object. We then use...
Simultaneous Robot-World and Hand-Eye Calibration (1998)
Recently, Zhuang, Roth, & Sudhakar [1] proposed a method that allows simultaneous computation of the rigid transformations from world frame to robot base frame and from hand frame to camera...
Self-Calibration and Euclidean Reconstruction Using Motions of a Stereo Rig (1998)
This paper describes a method to upgrade projective reconstruction to affine and to metric reconstructions using rigid general motions of a stereo rig. We make clear the algebraic relationships...
Finding the Collineation Between two Projective Reconstructions (1998)
Gabriella Csurka, David Demirdjian, Radu Horaud, Corresponding Radu Horaud
The problem of finding the collineation between two 3-D projective reconstructions has been proved to be useful for a variety of tasks such as calibration of a stereo rig and 3-D affine and/or...
Stereo Calibration from Rigid Motions (1998)
Radu Horaud, Radu Horaud, Gabriella Csurka, Gabriella Csurka, David Demirdjian, David Demirdjian, ...
: This paper describes a method to upgrade projective reconstruction to aOEne and to metric reconstructions using rigid general or planar motions of a stereo rig. We make clear the algebraic...
Projective Translations and Affine Stereo Calibration (1998)
Andreas Ruf, Gabriella Csurka, Radu Horaud
This paper investigates the structure of projective translations - rigid translations expressed as homographies in projective space. A seven parameter representation is proposed, which explicitly...
Iterative Pose Computation from Line Correspondences (1998)
This paper presents a method for estimating the position and orientation of a camera with respect to a known 3-D object from line correspondences. The main idea of the method is to estimate a pose...
Robot stereo-hand coordination for grasping curved parts (1998)
Yves Dufournaud, Radu Horaud, Long Quan
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Object pose: The link between weak perspective, paraperspective, and full perspective (1997)
Radu Horaud, Radu Horaud, Stdphane Christy, Stdphane Christy, Fadi Dornaika, Fadi Dornaika, ...
image et vision o
Visual trajectories from uncalibrated stereo (1997)
This paper proposes a methodological framework for trajectory generation in projective space. The framework enables trajectories that respect rigidity constraints of structure and motion, that are...
Visual trajectories from uncalibrated images (1997)
This paper proposes a methodological framework for trajectory generation in projective space. The framework enables trajectories that respect rigidity constraints of structure and motion, that are...
Visual Trajectories from Uncalibrated Stereo (1997)
This paper proposes a methodological framework for trajectory generation in projective space. The framework enables trajectories that respect rigidity constraints of structure and motion, that are...
Object Pose: The Link between Weak Perspective, Paraperspective, and Full Perspective (1997)
Radu Horaud, Fadi Dornaika, Bart Lamiroy, Stéphane Christy
Recently, DeMenthon & Davis [4], [5] proposed a method for determining the pose of a 3-D object with respect to a camera from 3-D to 2-D point correspondences. The method consists of iteratively...
Euclidean Reconstruction and Affine Camera Calibration Using Controlled Robot Motions (1997)
Radu Horaud, Stéphane Christy, Roger Mohr
In this paper we are addressing the problem of Euclidean reconstruction with an uncalibrated affine camera and calibration of this camera. Since efficiency is an important issue in robotics and...
Object pose: The link between weak perspective, paraperspective and full perspective (1997)
Radu Horaud, Fadi Dornaika, Bart Lamiroy, Stéphane Christy
Abstract. Recently, DeMenthon and Davis (1992, 1995) proposed a method for determining the pose of a 3-D object with respect to a camera from 3-D to 2-D point correspondences. The method consists of...
Visually guided object grasping (1997)
Radu Horaud, Associate Member, Fadi Dornaika, Bernard Espiau
Abstract—In this paper, we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the...
Euclidean shape and motion from multiple perspective views by affine iterations (1996)
Abstract-In this paper, we describe a method for solving the Euclidean reconstruction problem with a perspective camera model by incrementally performing Euclidean reconstruction with either a weak...
Euclidean reconstruction: From paraperspective to perspective (1996)
Abstract. In this paper we describe a method to perform Euclidean reconstruction with a perspective camera model. It incrementally performs reconstruction with a paraperspective camera in order to...
Euclidean shape and motion from multiple perspective views by affine iterations (1996)
Abstract-In this paper, we describe a method for solving the Euclidean reconstruction problem with a perspective camera model by incrementally performing Euclidean reconstruction with either a weak...
Euclidean shape and motion from multiple perspective views by affine iterations (1996)
Abstract-- In this paper we describe a method for solving the Euclidean reconstruction problem with a perspective camera model by incrementally performing Euclidean reconstruction with either a weak...
Euclidean Reconstruction: from Paraperspective to Perspective (1996)
In this paper we describe a method to perform Euclidean reconstruction with a perspective camera model. The advantage of this method is that it incrementaly performs reconstruction with a...
Polyhedral object recognition by indexing (1995)
Abstract--In computer vision, the indexing problem is the problem of recognizing a few objects in a large database of objects while avoiding the help of the classical image-feature-to-object-feature...
Visually Guided Object Grasping (1995)
Radu Horaud, Fadi Dornaika, Christian Bard, Bernard Espiau
In this paper we describe a method for aligning a robot gripper --- or any other end effector --- with an object. An example of such a gripper/object alignment is grasping. The task consists of,...
Whenever a sensor is mounted on a robot hand it is important to know the relationship between the sensor and the hand. The problem of determining this relationship is referred to as the hand-eye...
Object Pose from 2-D to 3-D Point and Line Correspondences (1995)
Thai Quynh Phong, Radu Horaud, Adnan Yassine, Pham Dinh Tao
In this paper we present a method for optimally estimating the rotation and translation between a camera and a 3-D object from point and/or line correspondences. First we devise an error function and...
Visually Guided Object Grasping (1995)
Radu Horaud, Fadi Dornaika, Bernard Espiau
In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method...
Object pose: Links between paraperspective and perspective (1995)
Radu Horaud, Stphane Christy, Fadi Dornaika, Bart Lamiroy
Recently, Dementhon 0 Davis [2] proposed a method for determining the pose of a 3-0 object with respect to a camera from 3-D to 2-0 point correspondences. The method consists of iteratively improving...
Euclidian Shape and Motion from Multiple Perspective Views by Affine Iterations (1994)
Christy, Stéphane, Horaud, Radu
In this paper we describe a method for solving the Euclidean reconstruction problem with a perspective camera model by incrementally performing an Euclidean reconstruction with either a weak or a...
Object Pose: The Link between Weak Perspective, Para Perspective, and Full Perspective (1994)
Horaud, Radu, Christy, Stéphane, Dornaika, Fadi
Recently, Dementhon & Davis (1994) proposed a method for determining the pose of a 3-D object with respect to a camera from 3-D to 2-D point correspondences. The method consists of iteratively...
Euclidian Shape and Motion from Multiple Perspective Views by Affine Iterations (1994)
Christy, Stéphane, Horaud, Radu
In this paper we describe a method for solving the Euclidean reconstruction problem with a perspective camera model by incrementally performing an Euclidean reconstruction with either a weak or a...
Object Pose: The Link between Weak Perspective, Para Perspective, and Full Perspective (1994)
Horaud, Radu, Christy, Stéphane, Dornaika, Fadi
Recently, Dementhon & Davis (1994) proposed a method for determining the pose of a 3-D object with respect to a camera from 3-D to 2-D point correspondences. The method consists of iteratively...
Euclidian Shape and Motion from Multiple Perspective Views by Affine Iterations (1994)
Christy, Stéphane, Horaud, Radu
In this paper we describe a method for solving the Euclidean reconstruction problem with a perspective camera model by incrementally performing an Euclidean reconstruction with either a weak or a...
Object Pose: The Link between Weak Perspective, Para Perspective, and Full Perspective (1994)
Horaud, Radu, Christy, Stéphane, Dornaika, Fadi
Recently, Dementhon & Davis (1994) proposed a method for determining the pose of a 3-D object with respect to a camera from 3-D to 2-D point correspondences. The method consists of iteratively...
Euclidian shape and motion from multiple perspective views by affine iterations (1994)
Stphane Christy, Stphane Christy, Radu Horaud, Radu Horaud
image et vision
Stereo correspondence through feature grouping and maximal cliques (1989)
Abstract-In this paper we propose a method to solve the stereo cor-respondence problem. The method matches features and feature rela-tionships and can be paraphrased as follows. Linear edge segments...
The Advantage of Mounting a Camera onto a Robot Arm
Radu Horaud, Roger Mohr, Fadi Dornaika, Boubakeur Boufama
In this paper we describe a method for recovering Euclidean structure of an unknown scene with an uncalibrated camera mounted onto a robot arm. More precisely the method achieves the following tasks:...