Cad‐based off‐line planning for active vision
Xiaoyu He, Beno Benhabib, Kenneth C. Smith · Journal of Robotic Systems · 1995
Abstract A novel active‐vision system for 3‐D object recognition was developed. The vision system combines object pre‐marking and active sensing. Therein, an object is modeled by a few of its 2‐D perspective (standard) views, each with a corresponding viewing axis defined by a marker placed on the object. The operation of the active‐vision system is characterized by its off‐line planning and on‐line recognition phases. The primary objective of this article is to address two issues in regard to the former: optimal object pre‐marking and optimal camera placement. The optimal object pre‐marking problem is defined as the determination of the minimum number of markers, and their best locations on a given set of objects to yield maximum “distinctiveness” for the 2‐D standard‐views defined by these markers. The optimal camera‐placement problem targets minimization of camera movements in detecting the markers. Following a brief description of the proposed on‐line recognition process, the techniques developed for the off‐line planning stage are described in this article. For experimental verification purposes, a prototype of the proposed active‐vision system was also implemented and is described herein. ©1995 John Wiley & Sons, Inc.