NDLI: Multisensor placement in 3D environments via visibility estimation and derivative-free optimization

Content Provider	IEEE Xplore Digital Library
Author	De Rainville, F.-M. Mercier, J.-P. Gagne, C. Giguere, P. Laurendeau, D.
Copyright Year	2015
Description	Author affiliation: Dept. d'Inf. de genie logiciel, Univ. Laval, Québec, QC, Canada (Mercier, J.-P.; Giguere, P.) \|\| Lab. de vision et Syst. numeriques, Univ. Laval, Québec, QC, Canada (De Rainville, F.-M.; Gagne, C.; Laurendeau, D.)
Abstract	This paper proposes a complete system for robotic sensor placement in initially unknown arbitrary three-dimensional environments. The system uses a novel approach for computing the quality of acquisition of a mobile sensor group in such environments. The quality of acquisition is based on a geometric model of a camera which allows accurate sensor models and simple occlusion computation. The proposed system combines this new metric with a global derivative-free optimization algorithm to find simultaneously the number of sensors and their configuration to sense accordingly the environment. The presented framework compares favourably with current techniques working in two-dimensional environments. Furthermore, simulation and experimental results demonstrate the ability of the system to cope with full three-dimensional environments, a domain still unexplored by previous methods.
Starting Page	3327
Ending Page	3334
File Size	2685873
Page Count	8
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139658
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Cost function Robot vision systems Measurement
Content Type	Text
Resource Type	Article

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