Active sensing plays an important role in autonomous robot systems. This paper presents an automatic planning method of light source and camera placement for an active photometric stereo system. Since photometric stereo systems normally use multiple light sources fured to the environment, they cannot avoid shadows caused by surrounding objects. One remedy for this situation is to use a movable light source and to adapt its placement actively to the task environment. Candidate positions for light source placement to avoid shadows are obtained based on a 3-dimensional model of the environment and image processing of a virtual sphere around the target objects. Then possible combinations are evaluated using the combined criteria of reliability and detectability of the measurement. Experimental results, using a light source affixed to a manipulator, demonstrate the usefulness of the setup planning method. To improve the detectabilio of the active photometric stereo system, an extension has been made by using a movable camera in place of a fmd camera. The extended system utilizes two concentric geodesic domes as a configuration space for planning the light source placement and the camera placement.
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