[robotics-worldwide] PostDoc Position: Development of 3D reconstruction algorithms for ultra-fast smart camera in SoC environment
Francois BERRY
francois.berry at lasmea.univ-bpclermont.fr
Wed Mar 10 08:18:27 PST 2010
Development of 3D reconstruction algorithms for ultra-fast smart camera
in SoC environment
The purpose of this post-doc (proposed in VIRAGO project) is to use a
smart stereo camera (designed at LASMEA) based on the reconfigurable
logic and CMOS imagers. The main objective is to use a methodology
matching the architecture and vision algorithms, to develop an optimal
system of high speed embedded vision.
In fact, in conventional approaches, the use of cameras can be
summarized by image storage and an "offline" processing. However these
systems are expensive and completely inconsistent with the "real time"
control of robots. Also, for direct use in the control loop of robot, it
is necessary to have real time "sensor" information.
The approach proposed here is to process the large amount of information
directly into the camera to eliminate the "bottleneck" between the
sensor and control system. The second point is to use sensors using
"Rolling Shutter" CMOS technology. The project VIRAGO is built on a
major innovation (winner of a European Conference on Computer Vision
2006) which involves the exploitation of algorithm using this
technology. In the "rolling shutter" mode, all pixels of the imager are
not simultaneously exposed to light but sequentially line by line. When
the relative speed between camera and scene becomes very large,
deformations or distortions appear in the image. These distortions are
not taken into account in the classical perspective projection which
considers the observation of a rigid world. This creates unusable images
from cameras rolling shutter during pose estimation, and hence for
three-dimensional reconstruction. This model allows calculating the
accurate placement of the object but also operates the distortions
induced by this phenomenon for measuring the instantaneous speed of 3D
rigid objects.
In this case, the vision system is planned to have the low-level
processing and technical computing compensating defects closer to the
retina so as to provide not an image (which must be transferred to PC
for processing) but a direct geometrical information (position,
orientation, speed). This should provide such information at the rates
of 1000 Hz, consistent with the rapid control of robots, and details
that are usually less than a few Hertz frequency.
Contacts :
François Berry - Francois.Berry at lasmea.univ-bpclermont.fr – Tel : 04 73
40 72 52
Omar AIT AIDER - omar.ait-aider at lasmea.univ-bpclermont.fr – Tel : 04 73
40 55 67
Pre-requisite:
Proficiency in English(spoken and written) is obligatory.
The candidate should be experience in :
* Hardware Programing (VHDL)
* Electronic System concepts
* System Programing (in C)
Knowledge of following will be plus :
* Artificial vision
* Geometry and calibration
Bibliography
Simultaneous object pose and velocity computation using a single view
from a rolling shutter camera
O. Ait-Aider, N. Andreff, J.M. Lavest and P. Martinet
9th European Conference on Computer Vision (ECCV’06), Graz, Austria, May
7-13, 2006. PAGE \*Arabic
Structure and Kinematics Triangulation with a Rolling Shutter Stereo Rig
O. Ait-Aider and F. Berry
International Conference on Computer Vision (ICCV'09), Kyoto, Japan,
October 2009.
Embedded active vision system based on an FPGA architecture
P. Chalimbaud, F. Berry
EURASIP Journal on Embedded Systems, 2007
Towards an embedded Visuo-Inertial Smart Sensor
P. Chalimbaud, F. Marmoiton and F. Berry
International Journal in Robotic Research 2007
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