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Optimal 3D Sensor Placement to Obtain Accurate 3D Point Positions

Gustavo Olague 1 Roger Mohr 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : 3D measurements can be achieved from several views using the principle of optical triangulation. This paper deals with the problem of where to place cameras in order to obtain a minimal error in the detection. We pose the problem in terms of an optimization design, dividing this in two main components: 1) an analytical part dedicated to the analysis of error propagation from which a criterion is derivated, 2) an heuristical part which is going to minimize this criterion. In this way, the approach consists of an uncertainty analysis applied to the reconstruction process from which a covariance matrix is computed. This matrix represents the uncertainty of the detection from which the criteria is derived. Thus, a multicellular genetic algorithm is implemented in order to minimize the criterion. Graphical examples are provided to illustrate the effectiveness and efficiency of the solution.
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https://hal.inria.fr/inria-00548349
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Gustavo Olague, Roger Mohr. Optimal 3D Sensor Placement to Obtain Accurate 3D Point Positions. Primer Encuentro de Computacion ENC 97: Vision Robotica, Sep 1997, Queretaro, Mexico. pp.116--123. ⟨inria-00548349⟩

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