Automatic sensor placement in a 3D volume

Given a 3D environment, a set of constraints, and a set of sensor models, this paper addresses the problem of finding the set of sensors and their corresponding placement that covers a target space in the environment. The set of possible sensors is represented in a parametric space associated with the sensor's pose. Initially, the target space is discretized as a set of space elements. A voting scheme builds an accumulator array where each space element votes for all sensors that may observe it while satisfying the perceptual constraints. A heuristic selects the best set of cameras that covers the target space. We present experimental results with synthetic and realistic 3D models. Categories and Subject Descriptors I.2.8 [Artificial Intelligence]: Problem Solving, Control Methods, and Search – heuristic methods I.2.9 [Artificial Intelligence]: Robotics – sensors. General Terms Algorithms and Experimentation. Keywords Sensor Placement.

• Type: Conference
• Year: 2009
• Where: PETRA
• Authors: Eric Becker, Gutemberg Guerra-Filho, Fillia Makedon
• Keywords: Emerging Technology, PETRA 2009, Sensor, Space Element, Target Space