Automatic sensor placement for model-based robot vision.

S Y Chen; Y F Li

doi:10.1109/tsmcb.2003.817031

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Automatic sensor placement for model-based robot vision.

S Y Chen·Y F Li

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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.

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Algorithms Artificial Intelligence Image Enhancement Image Interpretation, Computer-Assisted Imaging, Three-Dimensional Models, Theoretical Pattern Recognition, Automated Photogrammetry Robotics Transducers Evaluation Study Journal Article Research Support, Non-U.S. Gov't Validation Study

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S Y Chen, Y F Li. 2004. Automatic sensor placement for model-based robot vision.. https://doi.org/10.1109/tsmcb.2003.817031

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