Constraint-based sensor planning for scene modeling
- 20 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 131-136
- https://doi.org/10.1109/cira.1999.810008
Abstract
We describe an automated scene modeling system that consists of two components operating in an interleaved fashion: an incremental modeler and a sensor planner that analyzes the resulting model and computes the next sensor position. This planning component is target-driven and computes sensor positions using model information about the imaged surfaces and the unexplored space in a scene. The method is shape-independent and uses a continuous-space representation that preserves the accuracy of sensed data. It is able to completely acquire a scene by repeatedly planning sensor positions, utilizing a partial model to determine volumes of visibility for contiguous areas of unexplored scene. These visibility volumes are combined with sensor placement constraints to complete sets of occlusion-free sensor positions that are guaranteed to improve the quality of the model. We show results for acquisition of a scene that includes multiple, distinct objects with high occlusion.Keywords
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