Hierarchical Visual Perception Without Calibration 1996

Abstract:  : We have analyzed the equations and the formalism which allow to achieve dynamic visual perception of geometric and kinematic 3D information, for a monocular visual system without calibration. Considering the emergence of active visual systems for which we can not consider that the calibration parameters are either known or xed, we develop an alternative strategy based on the two complementary facts that: (i) several perceptual tasks can be performed without knowing the calibration parameters, while, for other perceptual tasks: (ii) certain class of special displacements induce enough equations to evaluate the calibration parameters, so that we can recover the Euclidean structure of the scene when needed. A synthesis of what can be recovered in terms of scene geometry and kinematics is proposed. We give, for the dioeerent levels of calibration, an exhaustive list of the geometric and kinematic information which can be recovered. Following a strategy based on special kind of displacem...