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Publications | ![]() |
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Domaines Capteurs et modélisation 3D Réalité virtuelle et simulation Thermographie et vision infrarouge Traitement de sequences video Vision biologique Vision cognitive Projets E-Inclusion COBVIS-D Auto21 SKALPEL-ICT COGNOIS VERTEX VRES Chercheurs Christian Gagné Xavier Maldague Denis Poussart Simon Gagné Marc Parizeau Robert Bergevin André Zaccarin Jean-François Lalonde Abdel Hakim Bendada Dates Trier par date dans l'ordre decroissant |
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Multisensor Placement in 3D Environments via Visibility Estimation and Derivative-Free OptimizationAbstract - This paper proposes a complete system for robotic sensor placement in initially unknown arbitrary three-dimensional environments. The system uses a novel approach for computing the quality of acquisition of a mobile sensor group in such environments. The quality of acquisition is based on a geometric model of a camera which allows accurate sensor models and simple occlusion computation. The proposed system combines this new metric with a global derivative-free optimization algorithm to find simultaneously the number of sensors and their configuration to sense accordingly the environment. The presented framework compares favourably with current techniques working in two-dimensional environments. Furthermore, simulation and experimental results demonstrate the ability of the system to cope with full three-dimensional environments, a domain still unexplored by previous methods. ![]() Bibtex:
@inproceedings{Rainville1087, Dernière modification: 2015/03/11 par cgagne |
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