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

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

This particular booklet explores the $64000 concerns in learning for energetic visible belief. The book’s 11 chapters draw on fresh very important paintings in robotic imaginative and prescient over ten years, rather within the use of recent strategies. Implementation examples are supplied with theoretical equipment for trying out in a true robotic approach. With those optimum sensor making plans ideas, this publication will provide the robotic imaginative and prescient method the adaptability wanted in lots of useful purposes.

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For such systems as shown in Fig. 14, a Coded Light Approach is most suitable for space-encoding and position detection when using a switchable LCD or mask. It is also an alternative approach for avoiding the scanning of the light and it requires only a small number of images to obtain a full depth-image. This can be achieved with a sequence of projections using a set of switchable lines (light or dark) on the LCD device. All the lines are numbered from left to right. In a so-called gray-coding (Inokuchi et al.

Let the projection error be m Qerr (W1 , W2 , W3 ) m ¦ [ x (i)  x (i)] = ¦ [W ' c 2 c 1 i 1  W2 x p  W3 ( xc x p )  xc ]2 . 38) i 1 Then W1, W2, and W3 may be obtained by minimizing the projection error Qerr with respect to Wk wQerr wWk 0 , k = 1, 2, 3. 40) T Or GW = X, W = G-1X. 41) The stripe location on the camera coordinate is, thus, rectified as xc ' W1  W2 x p . 31) can be written as vc v pV1  v p xcV2  vc x pV3  x p xcV4 0. 39) can be expressed as ªv p v c «v v « p c « « «¬v p vc vc A1 vp X1 vc A2 vp X 2 ...

1999)). Each grid point is a possible sensor pose for viewing the object. The object surface is partitioned as void surface, seen surface, unknown surface, and uncertain surface. The working space is also partitioned into void volume and viewing volume. Finally an algorithm is employed for planning a sequence of viewpoints so that the whole object can be sampled. This method is effective in dealing with some small and simple objects, but it is difficult to model a large and complex object with many concave areas because it cannot solve occlusion constraint.

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