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Active Sensor Planning for Multiview Vision Tasks [Hardcover]

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Item description for Active Sensor Planning for Multiview Vision Tasks by S.Y. Shengyong Chen...

An active robot system can change its visual parameters in an intentional manner and perform its sensing actions purposefully. A general vision task thus can be performed in an efficient way by means of strategic control of the perception process. The controllable processes include 3D active sensing, sensor configuration and recalibration, automatic sensor placement, and 3D sensing. This book explores these important issues in studying for active visual perception.

Vision sensors have limited fields of views and can only "see" a portion of a scene from a single viewpoint. To make the entire object visible, the sensor has to be moved from one place to another around the object to observe all features of interest. The sensor planning presented in this book describes an effective strategy to generate a sequence of viewing poses and sensor settings for optimally completing a perception task. Several methods are proposed to solve the problems in both model-based and nonmodel-based vision tasks. For model-based applications, the method involves determination of the optimal sensor placements and a shortest path through these viewpoints for automatic generation of a perception plan. A topology of viewpoints is achieved by a genetic algorithm in which a min-max criterion is used for evaluation. A shortest path is also determined by graph algorithms. For nonmodel-based applications, the method involves determination of the best next view and sensor settings. The trend surface is proposed as the cue to predict the unknown portion of an object or environment.

The 11 chapters in Active Vision Planning draw on recent work in robot vision over ten years, particularly in the use of new concepts of active sensing, reconfiguration, recalibration, sensor model, sensing constraints, sensing evaluation, viewpoint decision, sensor placement graph, model based planning, path planning, planning for robot in unknown environment, dynamic 3D construction, surface prediction, etc. Implementation examples are also provided with theoretical methods for testing in a real robot system. With these optimal sensor planning strategies, this book will give the robot vision system the adaptability needed in many practical applications.

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Item Specifications...

Pages   266
Est. Packaging Dimensions:   Length: 9.45" Width: 6.14" Height: 0.63"
Weight:   1.15 lbs.
Binding  Hardcover
Release Date   Mar 11, 2008
Publisher   Springer
ISBN  3540770712  
ISBN13  9783540770718  

Availability  0 units.

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Product Categories

1Books > Subjects > Computers & Internet > Computer Science > Artificial Intelligence > Computer Mathematics
2Books > Subjects > Computers & Internet > Computer Science > Artificial Intelligence > General
3Books > Subjects > Computers & Internet > Computer Science > Artificial Intelligence > Human Vision & Language Systems
4Books > Subjects > Computers & Internet > Computer Science > Artificial Intelligence > Robotics
5Books > Subjects > Computers & Internet > Computer Science > Circuitry > Communication & Signal Processing
6Books > Subjects > Computers & Internet > General
7Books > Subjects > Computers & Internet > Graphics & Illustration > 3D Graphics
8Books > Subjects > Computers & Internet > Graphics & Illustration > General
9Books > Subjects > Professional & Technical > Engineering > Computer Technology > Robotics & Automation
10Books > Subjects > Professional & Technical > Engineering > Mechanical > Robotics
11Books > Subjects > Science > General

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