Real Time Estimation of 3D Environment with an Active Vision System

. This paper deals with the problem of 3D structure estimation of a set of geometrical primitives in an active vision context. Our method is based on the structure from controlled motion approach which consists in constraining the camera motion in order to obtain an optimal estimation of the 3D structure of a geometrical primitive. Since this approach involves to focus on the considered primitive, we present a method for connecting up many estimations. It is centered on visual 2D information and rough estimation of the structure of the studied primitives. It allows us to have an optimal estimation of each primitive of a scene composed of cylinders, segments and polygons. Our method has been implemented with an automata network using the real time Signal language. These automata are able to connect up the different stages of the reconstruction process: selection, focusing, optimal estimation of the selected primitive and, simultaneously, rough estimation of the other ones. Real time exp..