Get Active Sensor Planning for Multiview Vision Tasks PDF

By Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang

ISBN-10: 3540770712

ISBN-13: 9783540770718

This specified booklet explores the $64000 matters in learning for energetic visible conception. The book’s 11 chapters draw on fresh vital paintings in robotic imaginative and prescient over ten years, relatively within the use of recent techniques. Implementation examples are supplied with theoretical tools for checking out in a true robotic method. With those optimum sensor making plans techniques, this booklet will supply the robotic imaginative and prescient process the adaptability wanted in lots of sensible purposes.

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Extra resources for Active Sensor Planning for Multiview Vision Tasks

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All these are passive methods to calibrate the sensor with some varying intrinsic parameters. For structured light vision systems, most existing methods are still based on static and manual calibration. That is, during the calibration and 3D reconstruction, the vision sensor is fixed in one place. The calibration target usually needs to be placed at several accurately known or measured positions in front of the sensor (DePiero and Trivedi 1996, Huynh 1997, Sansoni et al. 2000). With these traditional methods, the system must be calibrated again if the vision sensor is moved or the relative pose between the camera and the projector is changed.

3 Measurement Principle Projector Fw Lk , j C camera 3k 3 3j lj lk Fig. 16. The measurement principle 26 Chapter 2 Active Vision Sensors object [Xc Yc Zc], [Xp Yp Zp] light projection Zc [xp yp] Zp [xc yc] Xp projector Yc camera X Yp c Fig. 17. 17 illustrates the measurement principle in the stripe light system and Fig. 18 illustrates the representation of point coordinates. 11) Similarly, the projector is regarded as a pseudo-camera in that it casts an image rather than detects it. 14) in which RT, RD, RE, and T are 4u4 matrices standing for 3-axis rotation and translation.

2007 Panoramic Camera Wide FOV, high-resolution Method SIFT algorithm Task Mobile vision system Geometrical modeling Camera models and epipolar geometry Algorithms using Motion planning information space, differential constraints, etc. Mirror pyramid Maximize the panoramic FOV For active sensor planning, an intended view must first satisfy some constraints, either due to the sensor itself, the robot, or its environment. From the work by Cowan et al. (1988) who made a highlight on the sensor placement problem, detailed descriptions of the acceptable viewpoints for satisfying many requirements (sensor placement constraints) have to be provided.

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Active Sensor Planning for Multiview Vision Tasks by Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang

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