首页|Coverage of deformable contour shapes with minimal multi-camera system
Coverage of deformable contour shapes with minimal multi-camera system
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NSTL
Elsevier
? 2022 Elsevier LtdPerception over time is a critical problem in those cases where deformable objects are manipulated. The goal of this study is to cover the contour of an object along a deformation process and according to a prescribed coverage objective, in terms of visibility and resolution. This task is carried out by a set of limited field-of-view cameras. We propose novel methods for guaranteeing feasibility of the coverage objectives, which include the computation of the maximum visibility and resolution of the contour. Then, we introduce the coverage objectives in an offline constrained optimization problem to compute a priori the minimum number of cameras that achieve the coverage requirements. Finally, we propose an online technique that provides optimized configurations faster than the offline one, even when the object's reference deformation is unknown. We report experimental results in which our method achieves 100% of the coverage in simulation and in a real task.
Active perceptionCoverageDeformable objectsMulti-camera perception
Herguedas R.、Lopez-Nicolas G.、Sagues C.
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Instituto de Investigación en Ingeniería de Aragón Universidad de Zaragoza
NSTL
Elsevier
