Simultaneous Coverage and Mapping of Stereo Camera Network for Unknown Deformable Object

被引：2

作者：

Li, Chang ^{[1
]}

Chen, Xi ^{[2
]}

Chai, Li ^{[3
]}

机构：

[1] Wuhan Univ Sci & Technol, Sch Informat Sci & Engn, Wuhan 430081, Peoples R China

[2] Wuhan Univ Sci & Technol, Engn Res Ctr Met Automat & Measurement Technol, Wuhan 430081, Peoples R China

[3] Zhejiang Univ, Coll Control Sci & Engn, State Key Lab Ind Control Technol, Hangzhou 310027, Peoples R China

来源：

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT | 2024年 / 73卷

基金：

中国国家自然科学基金;

关键词：

Camera deployment algorithm; deformable object; simultaneous coverage and mapping (SCAM); stereo camera; Voronoi tessellation; ACTIVE-VISION; DEPLOYMENT;

D O I：

10.1109/TIM.2023.3346530

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this article, the simultaneous coverage and mapping (SCAM) for an unknown deformable object is studied by utilizing a stereo camera network. The visual criteria of the stereo camera are built to describe the visual performance, based on which the cost function is constructed to characterize the total performance for SCAM. With the defined stereo focus point (SFP) of the camera, a novel method called center tessellation with greedy algorithm is proposed to tessellate such point to the geometric center of the known map with the aim of maximizing the established cost function. By this means, the deployment of the camera network is transferred to the convergence of the SFP and the geometric center of the known map in a certain way. Simulation and experimental results are provided to verify the effectiveness of the proposed method.

引用

页码：1 / 10

页数：10

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