Estimation of camera 3D-position to minimize occlusions

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Title: Estimation of camera 3D-position to minimize occlusions
Authors: Gil, Pablo | Torres, Fernando | Reinoso García, Óscar
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal | Universidad Miguel Hernández. Departamento de Ingeniería de Sistemas Industriales
Keywords: Camera viewpoint | Occlusions | Camera pose | Segmentation
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 2007
Publisher: INSTICC Press
Citation: GIL VÁZQUEZ, Pablo; TORRES MEDINA, Fernando; REINOSO GARCÍA, Óscar. "Estimation of camera 3D-position to minimize occlusions". En: ICINCO 2007, Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics : Angers, France, May 9-12, 2007 / Co-organized by INSTICC, Institute for Systems and Technologies of Information, Control and Communication and University of Angers ; Edited by Janan Zaytoon, Jean-Louis Ferrier, Juan Andrade Cetto and Joaquim Filipe. Setúbal : INSTICC Press, 2007. Robotics and Automation, Vol. 2. ISBN 978-972-8865-83-2, pp. 311-317
Abstract: Occlusions are almost always seen as undesirable singularities that pose difficult challenges to recognition processes of objects which have to be manipulated by a robot. Often, the occlusions are perceived because the viewpoint with which a scene is observed is not adapted. In this paper, a strategy to determine the location, orientation and position, more suitable so that a camera has the best viewpoint to capture a scene composed by several objects is presented. The estimation for the best location of the camera is based on minimizing the zones of occlusion by the analysis of a virtual image sequence in which is represented the virtual projection of the objects. These virtual projections represent the images as if they were captured by a camera with different viewpoints without moving it.
Sponsor: This work was funded by the Spanish MCYT project “Diseño, implementación y experimentación de escenarios de manipulación inteligentes para aplicaciones de ensamblado y desensamblado automático (DPI2005- 06222)”.
ISBN: 978-972-8865-83-2
Language: eng
Type: info:eu-repo/semantics/bookPart
Peer Review: si
Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales

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