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Constraint-based sensor planning for scene modeling

Reed, Michael K.; Allen, Peter K.

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.

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Published In
IEEE Transactions on Pattern Analysis and Machine Intelligence
Publisher DOI
https://doi.org/10.1109/34.895979
Volume
22
Issue
12
Pages
1460 - 1467
Academic Units
Computer Science
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