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Constraint-based sensor planning for scene modeling

Michael K. Reed; Peter K. Allen

Title:
Constraint-based sensor planning for scene modeling
Author(s):
Reed, Michael K.
Allen, Peter K.
Date:
Type:
Articles
Department:
Computer Science
Volume:
22
Permanent URL:
Book/Journal Title:
IEEE Transactions on Pattern Analysis and Machine Intelligence
Abstract:
We describe an automated scene modeling system that consists of two components operating in an interleaved fashion: an incremental modeler that builds solid models from range imagery; 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 compute sets of occlusion-free sensor positions that are guaranteed to improve the quality of the model. We show results for the acquisition of a scene that includes multiple, distinct objects with high occlusion.
Subject(s):
Computer science
Publisher DOI:
http://dx.doi.org/10.1109/34.895979
Item views:
75
Metadata:
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