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Optimal Sensor Placement for Cooperative Distributed Vision

Luis Ernesto Navarro-Serment, John M. Dolan and Pradeep Khosla
Conference Paper, Carnegie Mellon University, Proceedings of the International Conference on Robotics and Automation (ICRA), pp. 939-944, April, 2004

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Abstract

This paper describes a method for observing maneuvering targets using a group of mobile robots equipped with video cameras. These robots are part of a team of small-size (7x7x7 cm) robots configured from modular components that collaborate to accomplish a given task. The cameras seek to observe the target while facing it as much as possible from their respective viewpoints. This work considers the problem of scheduling and maneuvering the cameras based on the evaluation of their current positions in terms of how well can they maintain a frontal view of the target. We describe our approach, which distributes the task among several robots and avoids extensive energy consumption on a single robot. We explore the concept in simulation and present results.

BibTeX Reference
@conference{Navarro-Serment-2004-8904,
title = {Optimal Sensor Placement for Cooperative Distributed Vision},
author = {Luis Ernesto Navarro-Serment and John M. Dolan and Pradeep Khosla},
booktitle = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
keyword = {sensor placement, cooperative sensors, distributed vision, automatic surveillance},
school = {Robotics Institute , Carnegie Mellon University},
month = {April},
year = {2004},
pages = {939-944},
address = {Pittsburgh, PA},
}
2017-09-13T10:44:04+00:00