The trend towards automation and intelligence in aircraft final assembly testing has led to a new demand for autonomous perception of unknown cockpit operation scenes in robotic collaborative airborne system testing.T...The trend towards automation and intelligence in aircraft final assembly testing has led to a new demand for autonomous perception of unknown cockpit operation scenes in robotic collaborative airborne system testing.To address this demand,a robotic automated 3D reconstruction cell which enables to autonomously plan the robot end-camera’s trajectory is developed for image acquisition and 3D modeling of the cockpit operation scene.A continuous viewpoint path planning algorithm is proposed that incorporates both 3D reconstruction quality and robot path quality into optimization process.Smoothness metrics for viewpoint position paths and orientation paths are introduced together for the first time in 3D reconstruction.To ensure safe and effective movement,two spatial constraints,Domain of View Admissible Position(DVAP)and Domain of View Admissible Orientation(DVAO),are implemented to account for robot reachability and collision avoidance.By using diffeomorphism mapping,the orientation path is transformed into 3D,consistent with the position path.Both orientation and position paths can be optimized in a unified framework to maximize the gain of reconstruction quality and path smoothness within DVAP and DVAO.The reconstruction cell is capable of automatic data acquisition and fine scene modeling,using the generated robot C-space trajectory.Simulation and physical scene experiments have confirmed the effectiveness of the proposed method to achieve highprecision 3D reconstruction while optimizing robot motion quality.展开更多
Most sensors or cameras discussed in the sensor network community are usually 3D homogeneous, even though their2 D coverage areas in the ground plane are heterogeneous. Meanwhile, observed objects of camera networks a...Most sensors or cameras discussed in the sensor network community are usually 3D homogeneous, even though their2 D coverage areas in the ground plane are heterogeneous. Meanwhile, observed objects of camera networks are usually simplified as 2D points in previous literature. However in actual application scenes, not only cameras are always heterogeneous with different height and action radiuses, but also the observed objects are with 3D features（i.e., height）. This paper presents a sensor planning formulation addressing the efficiency enhancement of visual tracking in 3D heterogeneous camera networks that track and detect people traversing a region. The problem of sensor planning consists of three issues：（i） how to model the 3D heterogeneous cameras;（ii） how to rank the visibility, which ensures that the object of interest is visible in a camera＇s field of view;（iii） how to reconfigure the 3D viewing orientations of the cameras. This paper studies the geometric properties of 3D heterogeneous camera networks and addresses an evaluation formulation to rank the visibility of observed objects. Then a sensor planning method is proposed to improve the efficiency of visual tracking. Finally, the numerical results show that the proposed method can improve the tracking performance of the system compared to the conventional strategies.展开更多
基金supported by the National Key Research and Development Program of China(2019YFB1707505)the National Natural Science Foundation of China(Grant No.52005436)。
文摘The trend towards automation and intelligence in aircraft final assembly testing has led to a new demand for autonomous perception of unknown cockpit operation scenes in robotic collaborative airborne system testing.To address this demand,a robotic automated 3D reconstruction cell which enables to autonomously plan the robot end-camera’s trajectory is developed for image acquisition and 3D modeling of the cockpit operation scene.A continuous viewpoint path planning algorithm is proposed that incorporates both 3D reconstruction quality and robot path quality into optimization process.Smoothness metrics for viewpoint position paths and orientation paths are introduced together for the first time in 3D reconstruction.To ensure safe and effective movement,two spatial constraints,Domain of View Admissible Position(DVAP)and Domain of View Admissible Orientation(DVAO),are implemented to account for robot reachability and collision avoidance.By using diffeomorphism mapping,the orientation path is transformed into 3D,consistent with the position path.Both orientation and position paths can be optimized in a unified framework to maximize the gain of reconstruction quality and path smoothness within DVAP and DVAO.The reconstruction cell is capable of automatic data acquisition and fine scene modeling,using the generated robot C-space trajectory.Simulation and physical scene experiments have confirmed the effectiveness of the proposed method to achieve highprecision 3D reconstruction while optimizing robot motion quality.
基金supported by the National Natural Science Foundationof China(61100207)the National Key Technology Research and Development Program of the Ministry of Science and Technology of China(2014BAK14B03)+1 种基金the Fundamental Research Funds for the Central Universities(2013PT132013XZ12)
文摘Most sensors or cameras discussed in the sensor network community are usually 3D homogeneous, even though their2 D coverage areas in the ground plane are heterogeneous. Meanwhile, observed objects of camera networks are usually simplified as 2D points in previous literature. However in actual application scenes, not only cameras are always heterogeneous with different height and action radiuses, but also the observed objects are with 3D features（i.e., height）. This paper presents a sensor planning formulation addressing the efficiency enhancement of visual tracking in 3D heterogeneous camera networks that track and detect people traversing a region. The problem of sensor planning consists of three issues：（i） how to model the 3D heterogeneous cameras;（ii） how to rank the visibility, which ensures that the object of interest is visible in a camera＇s field of view;（iii） how to reconfigure the 3D viewing orientations of the cameras. This paper studies the geometric properties of 3D heterogeneous camera networks and addresses an evaluation formulation to rank the visibility of observed objects. Then a sensor planning method is proposed to improve the efficiency of visual tracking. Finally, the numerical results show that the proposed method can improve the tracking performance of the system compared to the conventional strategies.
