2022/03/20 by Akshay Malhotra, Malhotra, Akshay, Dhananjay Singh +5
Computer Science · Engineering · #Artificial Intelligence (cs.AI) #Computational Geometry and Mesh Generation #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robotics and Sensor-Based Localization #Smart Parking Systems Research #cs.AI #cs.CV
paper · pdf · doi:10.48550/arxiv.2203.10479
8 pages, 3 figures, 2022 International Conference on Robotics and Automation
arxiv created 2022/03/20 · openalex publication_date 2022/03/20 · arxiv updated 2022/03/22 · openalex created_date 2022/05/05 · openalex updated_date 2026/07/28
This paper proposes a method to compute camera 6Dof poses to achieve a user defined coverage. The camera placement problem is modeled as a combinatorial optimization where given the maximum number of cameras, a camera set is selected from a larger pool of possible camera poses. We propose to minimize the squared error between the desired and the achieved coverage, and formulate the non-linear cost function as a mixed integer linear programming problem. A camera lens model is utilized to project the cameras view on a 3D voxel map to compute a coverage score which makes the optimization problem in real environments tractable. Experimental results in two real retail store environments demonstrate the better performance of the proposed formulation in terms of coverage and overlap for triangulation compared to existing methods.