Information Entropy Based Planning
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Shengyong Chen · Youfu Li · Jianwei Zhang · Wanliang Wang
Active Sensor Planning for Multiview Vision Tasks
Shengyong Chen College of Information Engineering Zhejiang University of Technology Hangzhou 310014, PR China [email protected]
Jianwei Zhang AB TAMS, Department of Informatics University of Hamburg Vogt-Koelln-Strasse 30, D-22527 Hamburg, Germany [email protected]
Y. F. Li Dept of Manufacturing Engineering and Engineering Management City University of Hong Kong 83 Tat Chee Avenue, Kowloon Hong Kong [email protected]
Wanliang Wang College of Software Engineering Zhejiang University of Technology Hangzhou 310014 PR China
ISBN: 978-3-540-77071-8
e-ISBN: 978-3-540-77072-5
Library of Congress Control Number: 2007940478 c 2008 Springer-Verlag Berlin Heidelberg This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Cover design: WMXDesign GmbH Printed on acid-free paper 9 8 7 6 5 4 3 2 1 springer.com
Preface
The problem of active sensor planning was firstly addressed about 20 years ago and attracted many people after then. Recently, active sensing becomes even more important than ever since a number of advanced robots are available now and many tasks require to act actively for obtaining 3D visual information from different aspects. Just like human beings, it’s unimaginable if without active vision even only in one minute. Being active, the active sensor planner is able to manipulate sensing parameters in a controlled manner and performs active behaviors, such as active sensing, active placement, active calibration, active model construction, active illumination, etc. Active vision perception is an essential means of fulfilling such vision tasks that need take intentional actions, e.g. entire reconstruction of an unknown object or dimensional inspection of an industrial workpiece. The intentional actions introduce active or purposive behaviors. The vision system (the observer) takes intentional actions according to its mind, the mind such as going to a specific location and obtaining the useful information of the target, in an uncertain environment and conditions. It has a strategic plan to finish a certain vision task, such as navigating through an unfamiliar environment or modeling of an unknown object. It is
