Automatic Sensor Placement for Model-Based Robot Vision

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 34, Issue 1, 2004, Pages 393-408

  Chen, S Y ^a   Li, Y F ^a  

^a CITY UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

Christofides algorithm; Hierarchical genetic algorithm; Robot vision; Sensor placement; Viewpoints

Indexed keywords

ANIMATION; APPROXIMATION THEORY; CHARGE COUPLED DEVICES; COMPUTATIONAL COMPLEXITY; COMPUTATIONAL METHODS; COMPUTER AIDED DESIGN; COMPUTER SIMULATION; COMPUTER SOFTWARE; DEGREES OF FREEDOM (MECHANICS); GENETIC ALGORITHMS; MATHEMATICAL MODELS; MATHEMATICAL TRANSFORMATIONS; OBJECT RECOGNITION; OPTIMIZATION; SENSORS; STEREO VISION;

CHRISTOFIDES ALGORITHMS; HIERARCHICAL GENETIC ALGORITHM; SENSOR PLACEMENT; VIEWPOINTS;

COMPUTER VISION;

ALGORITHM; ARTICLE; ARTIFICIAL INTELLIGENCE; AUTOMATED PATTERN RECOGNITION; COMPUTER ASSISTED DIAGNOSIS; EVALUATION; IMAGE ENHANCEMENT; INSTRUMENTATION; METHODOLOGY; PHOTOGRAPHY; ROBOTICS; THEORETICAL MODEL; THREE DIMENSIONAL IMAGING; TRANSDUCER; VALIDATION STUDY;

ALGORITHMS; ARTIFICIAL INTELLIGENCE; IMAGE ENHANCEMENT; IMAGE INTERPRETATION, COMPUTER-ASSISTED; IMAGING, THREE-DIMENSIONAL; MODELS, THEORETICAL; PATTERN RECOGNITION, AUTOMATED; PHOTOGRAMMETRY; ROBOTICS; TRANSDUCERS;

EID: 0742272558     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2003.817031     Document Type: Article

References (39)

1. C. K. Cowan and P. D. Kovesi, "Automatic sensor placement from vision task requirements," IEEE Trans. Pattern Anal. Machine Intell., vol. 10, pp. 407-416, May 1988.
2. K. A. Tarabanis, P. K. Allen, and R. Y. Tsai, "A survey of sensor planning in computer vision," IEEE Trans. Robot. Automat., vol. RA-11, no. 1, pp. 86-104, 1995.
3. K. A. Tarabanis, R. Y. Tsai, and P. K. Allen, "The MVP sensor planning system for robotic vision tasks," IEEE Trans. Robot. Automat., vol. RA-11, no. 1, pp. 72-85, 1995.
4. E. Trucco, M. Umasuthan, A. M. Wallace, and V. Roberto, "Model-based planning of optimal sensor placements for inspection," IEEE Trans. Robot. Automat., vol. RA-13, no. 2, pp. 182-194, 1997.
5. T. S. Newman and A. K. Jain, "A survey of automated visual inspection," Comput. Vis. Image Understand., vol. 61, no. 2, pp. 231-262, 1995.
6. S. Y. Chen, Y. F. Li, and R. S. Lu, "Sensor placement for active modeling of unknown objects," in Int. Conf. Computer Vision, Pattern Recognition and Image Processing, Mar. 2002, pp. 749-752.
7. R. Pito, "A solution to the next best view problem for automated surface acquisition," IEEE Trans. Pattern Anal. Machine Intell., vol. 21, pp. 1016-1030. Oct. 1999.
8. C. J. Banta, L. M. Wong, C. Dumont, and M. A. Abidi, "A next-best-view system for autonomous 3-D object reconstruction," IEEE Trans. Syst., Man, Cybern., vol. 3, no. 5, pp. 589-598, 2000.
9. S. A. Hutchinson and A. C. Kak, "Planning sensing strategies in a robot work cell with multi-sensor capabilities." IEEE Trans. Robot. Automat., vol. 5, no. 6, pp. 765-783, 1989.
10. S. Abrams, P. K. Allen, and K. Tarabanis, "Computing camera view-points in an active robot work cell Abrams," Int. J. Robot. Res., vol. 18, no. 3, pp. 267-288, Mar. 1999.
11. I. Stamos and P. K. Allen. "Interactive sensor planning," in Proc. IEEE Computer Society Conf. Computer Vision and Pattern Recognition, June 1998, pp. 489-494.
12. N. Ahuja and J. Veenstra, "Generating octrees from object silhouettes in orthographic views," IEEE Trans. Pattern Anal. Machine Intell., vol. 11, pp. 137-149, Feb. 1989.
13. J. E. Banta and M. A. Abidi, "Autonomous placement of a range sensor for acquisition of optimal 3-D models," in Proc. 22nd Int. Conf. on Ind. Elec., Contr., and Inst., Taipei, Taiwan, R.O.C., 1996, pp. 1583-1588.
14. D. Papadopoulos-Orfanos and F. Schmitt, "Automatic 3-D digitization using a laser rangefmder with a small field of view," in Conf. Recent Advances in 3-D Digital Imaging and Modeling, 1997, pp. 60-67.
15. Y. F. Li and Z. Liu, "Uncertainty-driven viewpoint planning for 3D object measurements," in Proc. IEEE Int. Conf. Robotics and Automation, Taipei, Taiwan, R.O.C., May 2003.
16. K. N. Kutulakos and C. R. Dyer, "Global surface reconstruction by purposive control of observer motion," in IEEE Computer Society Conf. on Computer Vision and Pattern Recognition, 1994, pp. 331-338.
17. T. Arbel and F. P. Ferrie, "Viewpoint selection by navigation through entropy maps," in Proc. of the 7th IEEE Int. Conf. Computer Vision, vol. 1, 1999, pp. 248-254.
18. S. Uppala, D. R. Karuppiah, M. Brewer, S. C. Ravela, and R. A. Grupen, "On viewpoint control," in Proc. IEEE Int. Conf. on Robotics and Automation, vol. 4, May 11-15, 2002, pp. 4334-4339.
19. J. R. Spletzer and C. J. Taylor, "Sensor planning and control in a dynamic environment," in Proc. IEEE Int. Conf. on Robotics and Automation, vol. 1, May 11-15, 2002, pp. 676-681.
20. M. Albalate, M. Devy, and J. Marti, "Perception planning for an exploration task of a 3D environment," in Proc. Int. Conf. on Pattern Recognition (ICPR2002), Aug. 2002.
21. P. P. Vázquez, M. Feixas, M. Sbert, and W. Heidrich, "Viewpoint selection using viewpoint entropy," in Proc. Vision, Modeling, and Visualization, Stuttgart, Germany, 2001.
22. V.Vivek Sujan, "Optimum camera placement by robot teams in unstructured field environments," in Proc. IEEE 2002 Int. Conf. on Image Processing, New York, Sept. 22-25, 2002.
23. J. Okamoto, M. Milanova, and U. Bueker, "Active perception system for recognition of 3D objects in image sequences," in Proc. 5th Int. Workshop on Advanced Motion Control, Coimbra, 1998, pp. 700-705.
24. H. Bulthoff, C. Wallraven, and A. Graf, "View-based dynamic object recognition based on human perception," in Proc. Int. Conf. on Pattern Recognition, Aug. 2002.
25. D. Macrini, A. Shokoufandeh, S. Dickinson, K. Siddiqi, and S. Zucker, "View-based 3-D object recognition using shock graphs," in Proc. Int. Conf. on Pattern Recognition ICPR2002, Aug. 2002.
26. A. J. Briggs and B. R. Donald, "Visibility-based planning of sensor control strategies," Algorithmica, vol. 26, no. 3-4, pp. 364-388, 2000.
27. F. Prieto and T. Redarce et al., "CAD-based range sensor placement for optimum 3D data acquisition," in Proc. 2nd Int. Conf. on 3-D Digital Imaging and Modeling, 1999, pp. 128-137.
28. G. H. Tarbox and S. N. Gottschlich, "Planning for complete sensor coverage in inspection," Comput. Vis. Image Understand., vol. 61, no. 1, pp. 84-111, 1995.
29. G. Olague and R. Mohr, "Optimal camera placement to obtain accurate 3D point positions," in Proc. 14th Int. Conf. on Pattern Recognition, vol. 1, 1998, pp. 8-10.
30. _, "Optimal camera placement for accurate reconstruction," Pattern Recognit., vol. 35, no. 4, pp. 927-944, 2002.
31. C. Giraud and B. Jouvencel, "Sensor selection: A geometrical approach," in Int. Conf. on Intelligent Robots and Systems, Aug. 1995, pp. 555-560.
32. K. Higuchi, M. Hebert, and K. Ikeuchi, "Building 3-D models from unregistered range images," Graph. Models Image Processing, vol. 57, no. 4, pp. 315-333, July 1995.
33. M. K. Reed, P. K. Allen, and I. Stamos, "3-D modeling from range imagery: An incremental method with a planning component," in Int. Conf. on Recent Advances in 3D Digital Imaging and Modeling, 1997, pp. 76-83.
34. X. G. Gu, M. M. Marefat, and F. W. Ciarallo, "A robust approach for sensor placement in automated vision dimensional inspection," in Proc. IEEE Int. Conf. on Robotics and Automation, 1999, pp. 2602-2606.
35. ] E. Marchand and F. Chaumette, "Active vision for complete scene reconstruction and exploration," IEEE Trans. Pattern Anal. Machine Intell., vol. 21, pp. 65-72, Jan. 1999.
36. H. Zha, K. Morooka, and T. Masegawa, "Next best viewpoint (NBV) planning for active object modeling based on a learning-by-showing approach," Lecture Notes in Computer Science 1352. p. II-185, 1998.
37. Y. Ye and J. K. Tsotsos, "Where to look next in 3D object search," in IEEE Int. Symp. Computer Vision, 1995, pp. 539-544.
38. B. Triggs and C. Laugier, "Automatic camera placement for robot vision tasks," in IEEE Int. Conf. Robotics Automation, 1995. pp. 1732-1737.
39. S. Y. Chen and Y. F. Li, "A method of automatic sensor placement for robot vision in inspection tasks," in Proc. IEEE Int. Conf. on Robotics and Automation, vol. 3, Washington, DC, May 2002, pp. 2545-2550.