Read e-book online Active Sensor Planning for Multiview Vision Tasks PDF

By Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang

ISBN-10: 3540770712

ISBN-13: 9783540770718

This distinct ebook explores the $64000 matters in learning for lively visible notion. The book’s 11 chapters draw on fresh vital paintings in robotic imaginative and prescient over ten years, really within the use of latest thoughts. Implementation examples are supplied with theoretical equipment for checking out in a true robotic process. With those optimum sensor making plans ideas, this e-book will supply the robotic imaginative and prescient method the adaptability wanted in lots of useful functions.

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Read e-book online Active Sensor Planning for Multiview Vision Tasks PDF

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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.

Let the projection error be m Qerr (W1 , W2 , W3 ) m ¦ [ x (i)  x (i)] = ¦ [W ' c 2 c 1 i 1  W2 x p  W3 ( xc x p )  xc ]2 . 38) i 1 Then W1, W2, and W3 may be obtained by minimizing the projection error Qerr with respect to Wk wQerr wWk 0 , k = 1, 2, 3. 40) T Or GW = X, W = G-1X. 41) The stripe location on the camera coordinate is, thus, rectified as xc ' W1  W2 x p . 31) can be written as vc v pV1  v p xcV2  vc x pV3  x p xcV4 0. 39) can be expressed as ªv p v c «v v « p c « « «¬v p vc vc A1 vp X1 vc A2 vp X 2 ...

59) ={ W 1vc v p  W 2 vc Ai  W 3v p X i } = W 1cm1  W 2 cm 2  W 3cm3 . This means that the matrix’s 4th column, cm4, has a linear relationship with the first three columns, cm1 - cm3 . e. rank(A) d 3. Therefore, we can conclude that rank(A) = 3. 60) There exists an uncertain parameter k as the rank of matrix A is lower than its order by 1. 44) to find the least eigenvalue, the optimal solution can be obtained. 60) gives a solution for the relative orientation: ­ ° A0 ° ° ®bc ° °C ° 1 ¯ where bc = C2 / b.

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Active Sensor Planning for Multiview Vision Tasks by Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang


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