Active-Vision System Reconfiguration for Form Recognition in the Presence of Dynamic Obstacles

Authors:
Matthew Mackay;Beno Benhabib
Affiliations:
Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, Canada M5S 3G1;Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, Canada M5S 3G1
Venue:
AMDO '08 Proceedings of the 5th international conference on Articulated Motion and Deformable Objects
Year:
2008

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Abstract

This paper presents a novel, agent-based sensing-system reconfigura tion methodology for the recognition of time-varying geometry objects or subjects (targets). A multi-camera active-vision system is used to improve form-recognition performance by selecting near-optimal viewpoints along a prediction horizon. The proposed method seeks to maximize the visibility of such a time-varying geometry in a cluttered, dynamic environment. Simulated experiments clearly show a tangible potential performance gain.