Multi Camera Placement via Z-buffer Rendering for the Optimization of the Coverage and the Visual Hull

Autor:	Hänel, Maria L., Völkel, Johannes, Henrich, Dominik
Rok vydání:	2021
Předmět:	Computer Science - Robotics Computer Science - Computer Vision and Pattern Recognition Mathematics - Optimization and Control 65D19 65D18 68T45 68T42 90-05 90C26 90C30 90C56 I.4.8 I.6.4 I.2.10 I.2.11 I.2.8 G.1.6 B.8.2 J.7
Druh dokumentu:	Working Paper
Popis:	We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs to optimally cover the important areas of the robot work cell with safety overlap. We propose an efficient algorithm for optimally placing and orienting the cameras in a 3D CAD model of the work cell. In order to evaluate the quality of the camera constellation in each step, our method simulates the vision system using a z-buffer rendering technique for image acquisition, a voxel space for the overlap and a refined visual hull method for a conservative human reconstruction. The simulation allows to evaluate the quality with respect to the distortion of images and advanced image analysis in the presence of static and dynamic visual obstacles such as tables, racks, walls, robots and people. Our method is ideally suited for maximizing the coverage of multiple cameras or minimizing an error made by the visual hull and can be extended to probabilistic space carving. Comment: 8 pages, 9 figures, not reviewed yet
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2103.11211 Zobrazit plný text záznamu View this record from Arxiv