Constraint-Based Sensor Planning for Scene Modeling

We describe an automated scene modeling system that consists of two components operating in an interleaved fashion: an incremental modeler that builds solid models from range imagery, and a sensor planner that analyzes the resulting model and computes the next sensor position. This planning component is target-driven and computes sensor positions using model information about the imaged surfaces and the unexplored space in a scene. The method is shape-independent and uses a continuous-space representation that preserves the accuracy of sensed data. It is able to completely acquire a scene by repeatedly planning sensor positions, utilizing a partial model to determine volumes of visibility for contiguous areas of unexplored scene. These visibility volumes are combined with sensor placement constraints to compute sets of occlusion-free sensor positions that are guaranteed to improve the quality of the model. We show results for acquisition of a scene that includes multiple, distinct obj...

• Type: Journal
• Year: 2000
• Where: PAMI
• Authors: Michael K. Reed, Peter K. Allen
• Keywords: Automated Scene Modeling, Model, PAMI 2000, Sensor Positions