Gil, Pablo, Torres, Fernando, Reinoso García, Óscar
Estimation of camera 3D-position to minimize occlusions
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
URI: http://hdl.handle.net/10045/3283
DOI: 
ISSN: 
ISBN: 978-972-8865-83-2
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.
Keywords:Camera viewpoint, Occlusions, Camera pose, Segmentation
INSTICC Press
info:eu-repo/semantics/bookPart