Method for updating the environment's 3D geometric database in telerobotics by determining the 3D attitude of a known object from a single camera view
1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century, 1995
The paper deals with the updating of environment's geometric database in telerobotics. It... more The paper deals with the updating of environment's geometric database in telerobotics. It concerns the pose determination of known objects using 2D clues obtained through video images. A two step algorithm is implemented and assessed. The first step is available in case of object large motion, it is a geometric algorithm, which doesn't use redundant data; it provides a first
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Papers by Malik Mallem
project (Virtual ExploratioN of Underwater Sites, http://www.venus-project.eu). The main goal of the project is to
provide archaeologists and the general public with virtual and augmented reality tools for exploring and studying
deep underwater archaeological sites out of reach of divers. These sites have to be reconstructed in terms of
environment (seabed) and content (artifacts) by performing bathymetric and photogrammetric surveys on the real
site and matching points between geolocalized pictures. The base idea behind using Mixed Reality techniques
is to offer archaeologists and general public new insights on the reconstructed archaeological sites allowing
archaeologists to study directly from within the virtual site and allowing the general public to immersively explore
a realistic reconstruction of the sites. Both activities are based on the same VR engine but drastically differ in
the way they present information. General public activities emphasize the visually and auditory realistic aspect
of the reconstruction while archaeologists activities emphasize functional aspects focused on the cargo study
rather than realism which leads to the development of two parallel VR demonstrators. This paper will focus on
several key points developed for the reconstruction process as well as both VR demonstrators (archaeological and
general public) issues. The first developed key point concerns the densification of seabed points obtained through
photogrammetry in order to obtain high quality terrain reproduction. The second point concerns the development
of the Virtual and Augmented Reality (VR/AR) demonstrators for archaeologists designed to exploit the results of
the photogrammetric reconstruction. And the third point concerns the development of the VR demonstrator for
general public aimed at creating awareness of both the artifacts that were found and of the process with which
they were discovered by recreating the dive process from ship to seabed.