Active Sensor Planning for Multiview Vision Tasks

Describes strategies to generate a sequence of viewing poses and sensor settings for optimally completing a perception task. This book offers implementation examples with theoretical methods for testing in a real robot system.

This unique book explores the important issues in studying for active visual perception. The book's eleven chapters draw on recent important work in robot vision over ten years, particularly in the use of new concepts. Implementation examples are provided with theoretical methods for testing in a real robot system. With these optimal sensor planning strategies, this book will give the robot vision system the adaptability needed in many practical applications.

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.