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Active Sensor Planning for Multiview Vision Tasks

:	Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang
:	Active Sensor Planning for Multiview Vision Tasks
:	Springer-Verlag
:	9783540770725
:	1
:	CHF 133.60
:

:	Elektronik, Elektrotechnik, Nachrichtentechnik
:	English

:	265
:	Wasserzeichen/DRM
:	PC/MAC/eReader/Tablet
:	PDF

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.

	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