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

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 signifi cantly 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.

作者: Tingting Xu Kolja Kǖhnlenz Martin Buss

作者单位: Institute of Automatic Control Engineering LSR Technische Universitāt Mǖnchen D-80290 Munich,Germany

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 320-325

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）