Overview of the MVP sensor planning system for robotic vision tasks

In this paper, we present an overview of the MVP sensor planning system that we have developed. MVP automatically determines viewpoints for a robotic vision system so that object features of interest are simultaneously visible, inside the field-of-view, in-focus and magnified as required. We have analytically characterized the domain of admissible camera locations, orientations and optical settings for which each of the above feature detectability requirements is satisfied separately. In addition, we have posed the problem in an optimization setting in order to determine viewpoints that satisfy all requirements simultaneously and with a margin. Experimental results are shown of this technique when all the above feature detectability constraints are included. Camera views are taken from the computed viewpoints by a robot vision system that is positioned and its lens is set according to the results of this method.

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