Diccionario politécnico Beigbeder
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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. Presents uniquely the very important topic for almost all advanced robots Provides the readers with a clear idea and deep studies of the topics
INDICE: Introduction. Active Vision Sensors. Active Sensor Planning. Sensing Constraints and Evaluation. Model-Based Sensor Planning. Planning for Freeform Surface Measurement. Sensor Planning for Object Modeling. Information Entropy-Based Planning. Model Prediction and Sensor Planning. Integrating Planning with Active Illumination.
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