Simulation of the Handling of Real Objects with a Complete Control of Rotation

Abstract

This study describes a complete movie-based solution for simulating the manipulation of a real object in three rotational degrees of freedom. The solution uses a linear structure to store the frames corresponding to different viewing directions of the object. Simulating rotations is then equivalent to orbiting a virtual camera around the object and projecting what it is supposed to grab. The method links these rotations with those of the real camera while grabbing in order to extract the corresponding frames. Thiscorrespondence is geometry-based and expressed in an analytical way. The solution is entirely parameterised and independent of the number of taken images. Consequently, this study is an assessment of the mathematical background of an image-based manipulation using a specific organization both in the grab and storage of the images. In fact, the research provides a complement matter to some works which detail explicit mathematical concepts related to scene navigation but, in general, they do not emphasize the ones related to object manipulation.