Sensor Planning in 3D Object Search
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منابع مشابه
3D Path Planning Algorithm for Mobile Anchor-Assisted Positioning in Wireless Sensor Networks
Positioning service is one of Wireless Sensor Networks’ (WSNs) fundamental services. The accurate position of the sensor nodes plays a vital role in many applications of WSNs. In this paper, a 3D positioning algorithm is being proposed, using mobile anchor node to assist sensor nodes in order to estimate their positions in a 3D geospatial environment. However, mobile anchor node’s 3D path optim...
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3D model segmentation has an important role in 3D model processing programs such as retrieval, compression and watermarking. In this paper, a new 3D model segmentation algorithm is proposed. Cognitive science research introduces 3D object decomposition as a way of object analysis and detection with human. There are two general types of segments which are obtained from decomposition based on thi...
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In this paper, we provide a systematic study of the task of sensor planning for object search. The search agent’s knowledge of object location is encoded as a discrete probability density which is updated whenever a sensing action occurs. Each sensing action of the agent is defined by a viewpoint, a viewing direction, a field-of-view, and the application of a recognition algorithm. The formulat...
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An elaboration on Ye’s object search strategy is presented [64]. Our search agent is implemented on a Pioneer 3 robot equipped with a BumbleBee stereo camera. Of particular concern in this thesis is the incorporation of an appearance-based recognition algorithm for object detection and a stereo camera for depth estimation and environment representation. The detection algorithm can handle either...
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The task of sensor planning for object search is formulated and a mechanism for \where to look next" for this task is presented. The searcher is assumed to be a mobile platform equipped with an active camera and a method of calculating depth, like stereo or a laser range nder. The formulation casts sensor planning as an optimization problem: the goal is to maximize the probability of detecting ...
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