Automatic camera placement for robot vision tasks
Automatic camera placement for robot vision tasks
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DOI：
10.1109/robot.1995.525522
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发表时间：
1995-05
期刊：
影响因子：
--
通讯作者：
B. Triggs;C. Laugier
中科院分区：
文献类型：
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作者：
B. Triggs;C. Laugier
诸如CCD摄像机之类的远程传感器可以用于各种机器人传感任务，但由于摄像机位置和成像几何、任务约束和视觉遮挡的限制，可能很难找到可以完成任务的观看位置。这些约束的复杂性表明，自动、定量的传感器放置方法可能会很有用，特别是当工作空间杂乱无章，使用移动机器人安装的传感器来增加敏感区域、绕过遮挡等时。我们描述了一种摄像机布局规划器，其设计用于在实验机床中为安装在机器人上的CCD摄像机产生启发式良好的静态观察位置。它可以配置为为各种任务生成视点，如工件定位、检查和建模；通过视觉伺服进行反馈控制；以及任务进度监控。规划者使用一种新的基于概率的全局搜索技术来优化视点评估函数，该函数启发式地结合了任务、摄像机、机器人和环境约束。与以前的工作相比，主要的进展是在视点评估中加入了运动学可达性和碰撞约束，并引入了一种强大的搜索技术来处理由此产生的强非线性。
Remote sensors such as CCD cameras can be used for a variety of robot sensing tasks, but given restrictions on camera location and imaging geometry, task constraints, and visual occlusion it can be difficult to find viewing positions from which the task can be completed. The complexity of these constraints suggests that automated, quantitative methods of sensor placement are likely to be useful, particularly when the workspace is cluttered and a mobile robot-mounted sensor is being used to increase the sensible region, circumvent occlusions, and so forth. We describe a camera placement planner designed to produce heuristically good static viewing positions for a robot-mounted CCD camera in an experimental workcell. It can be configured to produce viewpoints for a variety of tasks such as workpiece location, inspection and modelling; feedback control by visual servoing; and task progress monitoring. The planner uses a novel probability-based global search technique to optimize a viewpoint evaluation function that heuristically combines task, camera, robot and environmental constraints. The main advances over previous work are the incorporation of kinematic accessibility and collision constraints in the viewpoint evaluation and the introduction of a search technique powerful enough to handle the resulting strong nonlinearities.