Automatic sensor placement for model-based robot vision

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
S Y Chen, Y F Li

Abstract

This paper presents a method for automatic sensor placement for model-based robot vision. In such a vision system, the sensor often needs to be moved from one pose to another around the object to observe all features of interest. This allows multiple three-dimensional (3-D) images to be taken from different vantage viewpoints. The task involves determination of the optimal sensor placements and a shortest path through these viewpoints. During the sensor planning, object features are resampled as individual points attached with surface normals. The optimal sensor placement graph is achieved by a genetic algorithm in which a min-max criterion is used for the evaluation. A shortest path is determined by Christofides algorithm. A Viewpoint Planner is developed to generate the sensor placement plan. It includes many functions, such as 3-D animation of the object geometry, sensor specification, initialization of the viewpoint number and their distribution, viewpoint evolution, shortest path computation, scene simulation of a specific viewpoint, parameter amendment. Experiments are also carried out on a real robot vision system to demonstrate the effectiveness of the proposed method.

Citations

Dec 23, 2014·IEEE Transactions on Cybernetics·Chia-Pang ChenJoe-Air Jiang
Jun 13, 2013·IEEE Transactions on Cybernetics·Yourim Yoon, Yong-Hyuk Kim
Jul 25, 2009·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Yi YaoMongi Abidi
Feb 6, 2009·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Chenghui Cai, Silvia Ferrari
Oct 26, 2005·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·S Y Chen, Y F Li

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