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Discrete Optimal View Path Planning

In English

Författare

Redaktör

  • José Braz
  • Sebastiano Battiato
  • Francisco Imai

Summary, in English

This paper presents a discrete model of a sensor path planning problem, with a long-term planning horizon. The goal is to minimize the covariance of the reconstructed structures while meeting constraints on the length of the traversed path of the sensor. The sensor is restricted to move on a graph representing a discrete set of configurations, and additional constraints can be incorporated by altering the graph connectivity. This combinatorial problem is formulated as an integer semi-definite program, the relaxation of which provides both a lower bound on the objective cost and input to a proposed genetic algorithm for solving the original problem. An evaluation on synthetic data indicates good performance.

Publiceringsår

2015

Språk

Engelska

Sidor

411-419

Publikation/Tidskrift/Serie

Proceedings of the 10th International Conference on Computer Vision Theory and Applications (VISAPP 2015), Vol. 1-3

Dokumenttyp

Konferensbidrag

Förlag

SciTePress

Ämne

  • Mathematics
  • Computer Vision and Robotics (Autonomous Systems)

Conference name

10:th International Conference on Computer Vision Theory and Applications (VISAPP 2015)

Conference date

2015-03-11 - 2015-03-14

Conference place

Berlin, Germany

Status

Published

Forskningsgrupp

  • Mathematical Imaging Group

ISBN/ISSN/Övrigt

  • ISBN: 978-989-758-091-8
  • ISBN: 978-989-758-089-5
  • ISBN: 978-989-758-090-1