Optimal camera placement considering mobile robot trajectory
Optimal camera placement considering mobile robot trajectory
复制标题
考虑移动机器人轨迹的最佳相机放置
DOI：
10.1109/robio.2009.4913204
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
T. Arai
中科院分区：
文献类型：
--
作者：
S. Nikolaidis;R. Ueda;Akinobu Hayashi;T. Arai
在不久的将来，机器人将被用于家庭环境，为老年人和行动不便的人提供帮助。传感器的布置极大地影响了提供给机器人的信息的质量。因此，我们研究了机器人遵循预定义路径的情况下视觉传感器的最佳布置问题。提出了一种评估传感器布置的方法，重点关注带有天花板摄像头的家庭环境的情况。仿真结果表明，我们可以用满足必要条件的最少传感器数量获得次优且实用的布置。
In the near future robots will be used in home environments to provide assistance for the elderly and challenged people. The arrangement of sensors influences greatly the quality of information provided to the robot. We, therefore, examine the problem of the optimal arrangement of vision sensors for the case of a robot following a pre-defined path. A methodology to evaluate the arrangement of sensors is proposed, focusing on the case of a home environment with ceiling cameras. Simulation results indicate that we can obtain sub-optimal and practical arrangement with the minimum number of sensors which satisfies the necessary condition.