In this chapter, we describe algorithms for three-dimensional (3-D ) vision that help robots accomplish navigation and grasping. To model cameras, we start with the basics of perspective projection and distortion due to lenses. This projection from a 3-D world to a two-dimensional (2-D ) image can be inverted only by using information from the world or multiple 2-D views. If we know the 3-D model of an object or the location of 3-D landmarks, we can solve the pose estimation problem from one view. When two views are available, we can compute the 3-D motion and triangulate to reconstruct the world up to a scale factor. When multiple views are given either as sparse viewpoints or a continuous incoming video, then the robot path can be computer and point tracks can yield a sparse 3-D representation of the world. In order to grasp objects, we can estimate 3-D pose of the end effector or 3-D coordinates of the graspable points on the object. |
