Radial Coverage Strength for Optimization of Monocular Multicamera Deployment

Lei, Zike; Chen, Xi; Chen, Xiang; Chai, Lu

doi:10.1109/tmech.2021.3056081

Cited by 12 publications

(8 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The origin of the frame is defined as the geometric center of the landmark, and Z l -axis is along the front face normal direction of the landmark. Let the directional point L k ∈ R 6 denotes the coordinate of the unit normal vector of l k : 3 is the orientation component. Then the front face of normal direction n k of l k can be characterized by…”

Section: Landmark Modelmentioning

confidence: 99%

“…A pinhole camera is used to obtain visual information. The frustum of the camera is defined as a truncated cone tangent to the square frustum in [3]. The geometric model of the camera is represented by intrinsic parameters and extrinsic parameters [22].…”

Section: Camera Modelmentioning

confidence: 99%

“…A S a kind of field sensor, camera sensors are selected in the observer as they have the advantages of rich information, moderate cost, low power consumption, light weight, which have been widely used in various visual tasks [1]- [3] and localization-related tasks [4]- [6]. In these tasks.…”

Section: Introductionmentioning

confidence: 99%

“…In order to improve the performance of the existing visual observers on SE (3), this work exploits how to optimally deploy the given number of landmarks in a given 3-D space. In particular, to exploit the flexibility coming from orientation of landmarks, directional landmarks are considered in this work.…”

Section: Introductionmentioning

confidence: 99%

“…Exploring MCP at each position over a given 3-D space results in a global optimization problem with respect to landmark position and orientation. The elimination genetic algorithm (EGA) is modified from the standard genetic algorithm (SGA) used in [3] to solve this global optimization problem. In order to show the effectiveness of the proposed landmark deployment technique, the obtained optimal landmark deployment is used in the existing visual observers on SE(3) in [12] as an example due to it is a relatively new research on visual observers.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Optimization of Directional Landmark Deployment for Visual Observer on SE(3)

Lei¹,

Chen²,

Tan³

et al. 2022

Preprint

Self Cite

View full text Add to dashboard Cite

An optimization method is proposed in this paper for novel deployment of given number of directional landmarks (location and pose) within a given region in the 3-D task space. This new deployment technique is built on the geometric models of both landmarks and the monocular camera. In particular, a new concept of Multiple Coverage Probability (MCP) is defined to characterize the probability of at least n landmarks being covered simultaneously by a camera at a fixed position. The optimization is conducted with respect to the position and pose of the given number of landmarks to maximize MCP through globally exploration of the given 3-D space. By adopting the elimination genetic algorithm, the global optimal solutions can be obtained, which are then applied to improve the convergent performance of the visual observer on SE(3) as a demonstration example. Both simulation and experimental results are presented to validate the effectiveness of the proposed landmark deployment optimization method.

show abstract

Section: Landmark Modelmentioning

confidence: 99%

Section: Camera Modelmentioning

confidence: 99%