By Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang
This designated e-book explores the $64000 concerns in learning for energetic visible notion. The book’s 11 chapters draw on fresh very important paintings in robotic imaginative and prescient over ten years, rather within the use of latest recommendations. Implementation examples are supplied with theoretical equipment for trying out in a true robotic procedure. With those optimum sensor making plans ideas, this publication will provide the robotic imaginative and prescient procedure the adaptability wanted in lots of useful purposes.
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Additional info for Active Sensor Planning for Multiview Vision Tasks
Many of the latest implemented planning systems can be traced back to this contribution. For example, Rivera-Rios et al. (2005) presents a probabilistic analysis of the effect of the localization errors on the dimensional measurements of the line entities for a parallel stereo setup (Fig. 7). The probability that the measurement error is within an acceptable tolerance was formulated as the selection criterion for camera poses. The camera poses were obtained via a nonlinear program that minimizes the total mean square error of the length measurements while satisfying the sensor constraints.
The two methods of stereo vision and stripe light vision have both been summarized in this chapter. To make the vision system flexible for perceiving objects at varying distances and sizes, the relative position between the projector and the camera needs to be changeable, leading to reconfiguration of the system. A self-recalibration method for such a reconfigurable system needs to be developed to determine the relative matrix between the projector and the camera, which is mainly concerned in this chapter.
18. A reconfigurable system coordinate system is chosen based on the camera (or the projector) center and its optic axis. For such a reconfigurable system, the two perspective matrices, which contain the intrinsic parameters such as the focal lengths (vc, vp ) and the optical centers ( xc0, yc0, xp0 ), can be determined in the initial calibration stage. 14) between the camera and the projector. e. 21) Since the system considered here has two DOFs, only two of the six parameters are variable while the other four are constants which can be known from the initial calibration.
Active Sensor Planning for Multiview Vision Tasks by Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang