Artificial Vision

4

Active Model Acquisition and Sensor Planning

4.1 Introduction

4.2 Background

4.2.1 Range image acquisition

4.2.2 Automatic model acquisition

4.2.3 Sensor planning

4.3 Examples of implemented systems

4.3.1 A 3D range data sensor

4.3.2 A 3D model acquisition system

4.3.3 An active inspection system

4.1 INTRODUCTION

Active vision systems (Blake and Yuille, 1993) can reconfigure themselves in order to achieve the best conditions to carry out their perceptual task. Parameters to reconfigure include sensor position, focus of attention, intrinsic parameters of sensors and sensor motion. This chapter focuses on two tasks made possible by the controlled motion of an active observer: (a) automatic 3D model acquisition and (b) optimal, model-based ...