威尼斯娱人城官网

Visual sensing and sensor placement in 3D 

Speaker:Dr. LI, Youfu
Department of Manufacturing Engineering and Engineering Management,
City University of Hong Kong, Kowloon, Hong Kong
Venue: Mechanical Building A210
Time: 10:00,June 22
 
Abstract:
Efficient measurement and reconstruction of a 3D environment or object requires a suitable visual sensing and perception planning strategy. In this talk, I will present our work in view planning using an active vision system. Two types of vision tasks are studied for known and unknown targets. While the former can be studied via optimizing some objective functions, the latter is only achieved with a Next Best View approach. An information entropy based viewpoint planning approach is proposed for reconstruction of freeform surfaces of 3D objects. In the framework of Bayesian statistics, we analyze the uncertainty of the model using entropy as the measurement. Based on this analysis, we predict the information gain, after which we obtain the information change for the models. The viewpoint that contains maximal information gain about the object is selected as the Next Best View. Using the active vision system, the 3D measurement and reconstruction tasks can automatically be performed. We investigated some issues in multi-view visual measurement, inspection and model acquisition tasks.
 
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Biography
 
Dr Li received his BS and MS degrees from Harbin Institute of Technology, China. He received his PhD degree in robotics from the Department of Engineering Science, the University of Oxford, UK in 1993. From 1993 to 1995, he was a research staff in the Department of Computer Science at the University of Wales, Aberystwyth, UK. He joined City University of Hong Kong in 1995. His research interests include robot sensing, robot vision, visual sensing and tracking. He has served as an associate editor of IEEE Transactions on Automation Science and Engineering (T-ASE) and is currently an associate editor of IEEE Robotics and Automation Magazine (RAM).