A View Direction Planning Strategy for a Multi-Camera Vision System

被引：0
|
作者：
Xu, Tingting [1 ]
Kuehnlenz, Kolja [1 ]
Buss, Martin [1 ]
机构：
[1] Tech Univ Munich, Inst Automat Control Engn LSR, D-80290 Munich, Germany
来源：
2008 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-4 | 2008年
关键词：
D O I：
10.1109/ICINFA.2008.4608018
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A multi-camera view direction planning strategy for mobile robots is discussed. Two concurrent tasks are considered: self-localization and object tracking. The approach is to assign the different tasks to different cameras, such that for each task an individual optimal view direction is selected based on the information gain maximization. Thereby, the individual task performance is significantly improved. The performance of the proposed strategy is evaluated in simulations, considering a humanoid robot navigation scenario, and compared with another two coupled or partly coupled gaze control strategies.
引用
收藏
页码：320 / 325
页数：6
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