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

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

This detailed ebook explores the $64000 matters in learning for energetic visible notion. The book’s 11 chapters draw on contemporary vital paintings in robotic imaginative and prescient over ten years, quite within the use of recent thoughts. Implementation examples are supplied with theoretical equipment for trying out in a true robotic method. With those optimum sensor making plans innovations, this ebook will provide the robotic imaginative and prescient approach the adaptability wanted in lots of sensible functions.

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A specialized projector can be designed for achieving low cost and high accuracy. However, the limitation of the stripe light vision system is that it requires the scene to be of uniform color and static within the acquisition period. To reconstruct one 3D surface, it needs about one second to capture 8–12 images and several seconds to compute the 3D coordinates. The two methods of stereo vision and stripe light vision have both been summarized in this chapter. To make the vision system flexible for perceiving objects at varying distances and sizes, the relative position between the projector and the camera needs to be changeable, leading to reconfiguration of the system.

44) to find the least eigenvalue, the optimal solution can be obtained. 60) gives a solution for the relative orientation: ­ ° A0 ° ° ®bc ° °C ° 1 ¯ where bc = C2 / b. 61) v4  bc v1 38 Chapter 2 Active Vision Sensors The orientation of the projector is D0 = tan-1 (A0 ) . 60), the 3D reconstruction can be performed to obtain an object shape (with relative size). 60) is insufficient for determining the five unknowns, b, C1, C2, A0, and k. To determine all these parameters, at least one more constraint equation is needed.

It combined many task, camera, robot and environmental constraints. A viewpoint is optimized and evaluated by a function which uses a probability-based global search technique. It is difficult to compute robust viewpoints which satisfy all feature detectability constraints. Yao and Allen (1995) presented a Tree Annealing (TA) method to compute the viewpoints with multi-constraints. 2. Summary of typical works on sensor planning for dimensional inspection Reference Tarabanis 1995 Abrams 1996 Sensors Camera Trucco 1997 Generalized sensor Range sensor Prieto 1999 Sheng et al.

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