By Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang
This particular e-book explores the $64000 matters in learning for lively visible belief. The book’s 11 chapters draw on contemporary very important paintings in robotic imaginative and prescient over ten years, fairly within the use of recent innovations. Implementation examples are supplied with theoretical equipment for checking out in a true robotic procedure. With those optimum sensor making plans thoughts, this booklet will provide the robotic imaginative and prescient method the adaptability wanted in lots of functional purposes.
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Additional resources for Active Sensor Planning for Multiview Vision Tasks
An epipolar line is defined by the intersection of the epipolar plane with image planes of the left and right cameras. The epipole of the image is the point where all the epipolar lines intersect. More intensive technology for stereo measurement is out of the scope of this book, but can be found in many published contributions. 3 3D Sensing by Stripe Light Vision Sensors Among the active techniques, the structured-light system features high quality and reliability for 3D measurement. It may be regarded as a modification of static binocular stereo.
29), if the locations of four stripes are known, the projector’s orientation D0 can be determined when assuming h = 0. 27), the parameters vc, h, and vp are constants that have been determined at the initial calibration stage. xc = xci = xc(i) and Dpi = Dp(i) are known coordinates on the sensors. Therefore, D0, b, C1, and C2 are the only four unknown constants and their relationship can be defined by three points. Denote A0=tan(D0) and Ai=tan(Dpi). The projection angle of an illumination stripe is (illustrated in Fig.
The measurement principle 26 Chapter 2 Active Vision Sensors object [Xc Yc Zc], [Xp Yp Zp] light projection Zc [xp yp] Zp [xc yc] Xp projector Yc camera X Yp c Fig. 17. 17 illustrates the measurement principle in the stripe light system and Fig. 18 illustrates the representation of point coordinates. 11) Similarly, the projector is regarded as a pseudo-camera in that it casts an image rather than detects it. 14) in which RT, RD, RE, and T are 4u4 matrices standing for 3-axis rotation and translation.
Active Sensor Planning for Multiview Vision Tasks by Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang