Active Sensor Planning for Multiview Vision Tasks (eBook)

Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang (Autoren)

eBook Download: PDF

2008 | 2008
XI, 265 Seiten
Springer Berlin (Verlag)
978-3-540-77072-5 (ISBN)

Infos

This unique book explores the important issues in studying for active visual perception. The book's eleven chapters draw on recent important work in robot vision over ten years, particularly in the use of new concepts. Implementation examples are provided with theoretical methods for testing in a real robot system. With these optimal sensor planning strategies, this book will give the robot vision system the adaptability needed in many practical applications.

Inhalt

Preface 5
Contents 7
Chapter 1 Introduction 12
1.1 Motivations 12
1.2 Objectives and Solutions 18
1.3 Book Structure 19
Chapter 2 Active Vision Sensors 21
2.1 3D Visual Sensing by Machine Vision 21
2.2 3D Sensing by Stereo Vision Sensors 29
2.3 3D Sensing by Stripe Light Vision Sensors 33
2.4 3D Sensor Reconfiguration and Recalibration 37
2.5 Summary 48
Chapter 3 Active Sensor Planning – the State-of-the-Art 49
3.1 The Problem 49
3.2 Overview of the Recent Development 50
3.3 Fundamentals of Sensor Modeling and Planning 53
3.4 Planning for Dimensional Inspection 58
3.5 Planning for Recognition and Search 61
3.6 Planning for Exploration, Navigation, and Tracking 64
3.7 Planning for Assembly and Disassembly 69
3.8 Planning with Illumination 70
3.9 Other Planning Tasks 73
3.10 Summary 76
Chapter 4 Sensing Constraints and Evaluation 77
4.1 Representation of Vision Sensors 77
4.2 Placement Constraints 78
4.3 Common Approaches to Viewpoint Evaluation 85
4.4 Criterion of Lowest Operation Cost 87
4.5 Summary 90
Chapter 5 Model-Based Sensor Planning 91
5.1 Overview of the Method 91
5.2 Sensor Placement Graph 92
5.3 The Shortest Path 95
5.4 Practical Considerations 97
5.5 Implementation 102
5.6 Summary 110
Chapter 6 Planning for Freeform Surface Measurement 111
6.1 The Problem 111
6.2 B-Spline Model Representation 114
6.3 Uncertainty Analysis 118
6.4 Sensing Strategy for Optimizing Measurement 120
6.5 Experiments 122
6.6 Summary 128
Chapter 7 Sensor Planning for Object Modeling 129
7.1 Planning Approaches to Model Construction 129
7.2 The Procedure for Model Construction 134
7.3 Self-Termination Criteria 137
7.4 Experiments 141
7.5 Summary 154
Chapter 8 Information Entropy Based Planning 156
8.1 Overview 156
8.2 Model Representation 157
8.3 Expected Error 163
8.4 View Planning 166
8.5 Experiments 168
8.6 Summary 184
Chapter 9 Model Prediction and Sensor Planning 185
9.1 Surface Trend and Target Prediction 185
9.2 Determination of the Next Viewpoint 191
9.3 Simulation 194
9.4 Practical Implementation 199
9.5 Discussion and Conclusion 211
Chapter 10 Integrating Planning with Active Illumination 214
10.1 Introduction 214
10.2 From Human Vision to Machine Vision 216
10.3 Evaluation of Illumination Conditions 217
10.4 Controllable Things 219
10.5 Glare Avoidance 221
10.6 Intensity Estimation 223
10.7 Intensity Control 228
10.8 Simulation 231
10.9 Implementation 234
10.10 Summary 238
Bibliography 239
Index 266

Produkt-Details

• Erscheint lt. Verlag: 23.1.2008
• Zusatzinfo: XI, 265 p.
• Verlagsort: Berlin
• Sprache: englisch
• Themenwelt: Mathematik / Informatik ► Informatik ► Grafik / Design
• Themenwelt: Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Themenwelt: Technik ► Maschinenbau
• Schlagworte: 3D • 3D active sensing • algorithms • Automatic Sensor placement and 3D sensing • Entropy • Genetic algorithms • Information • information entropy • robot • Robot vision • sensing • Sensor • Sensor configuration and recalibration • Topology • Trend
• ISBN-10: 3-540-77072-0 / 3540770720
• ISBN-13: 978-3-540-77072-5 / 9783540770725