By Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang
This precise e-book explores the real concerns in learning for energetic visible belief. The book’s 11 chapters draw on contemporary very important paintings in robotic imaginative and prescient over ten years, relatively within the use of latest suggestions. Implementation examples are supplied with theoretical equipment for trying out in a true robotic approach. With those optimum sensor making plans concepts, this booklet will provide the robotic imaginative and prescient procedure the adaptability wanted in lots of useful functions.
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Additional resources for Active Sensor Planning for Multiview Vision Tasks
3 3D Sensing by Stripe Light Vision Sensors 25 Fig. 15. An example of the coding method information needed to do the triangulation for each pixel is provided by the x-address and the contents of the bit-plane stack. Using look-up-tables can generate a full 3D image within a few seconds. With such a setup, the depth resolution can be further increased using the phase-shift method or the color-coded method. 15 illustrates an example of the coding method. The lines are numbered from left to right.
27) For two point pairs (xci, Dpi) and (xcj, Dpj), C1[ xcj vc cot(D 0 D pi ) xci vc cot(D 0 D pj ) xcj xci ] = vc [ vc cot(D 0 D pi ) xci vc cot(D 0 D pj ) xcj 1] . 28) Denote Fij = vc cot(D 0 D pi ) xci . The coordinates of four points yield vc cot(D 0 D pj ) xcj xcj Fij xci xcl Fkl xck Fij 1 . 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.
Let the projection error be m Qerr (W1 , W2 , W3 ) m ¦ [ x (i) x (i)] = ¦ [W ' c 2 c 1 i 1 W2 x p W3 ( xc x p ) xc ]2 . 38) i 1 Then W1, W2, and W3 may be obtained by minimizing the projection error Qerr with respect to Wk wQerr wWk 0 , k = 1, 2, 3. 40) T Or GW = X, W = G-1X. 41) The stripe location on the camera coordinate is, thus, rectified as xc ' W1 W2 x p . 31) can be written as vc v pV1 v p xcV2 vc x pV3 x p xcV4 0. 39) can be expressed as ªv p v c «v v « p c « « «¬v p vc vc A1 vp X1 vc A2 vp X 2 ...
Active Sensor Planning for Multiview Vision Tasks by Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang