An active strategy for the simultaneous localization and reconstruction of a 3D object from a humanoid platform

Abstract

This paper proposes a novel approach for the simultaneous localization and reconstruction of a 3D object. This reconstruction is done with a small humanoid platform by the only means of monocular vision.We combine (1) a stochastic control approach to decide how to move the robot such that the object can be both localized with respect to the robot and correctly reconstructed, and (2) a space carving approach for the 3D reconstruction of the object that merges the acquired monocular views into a coherent model. We present a set of very promising results obtained with a NAO platform.