ISSN:
1432-0541
Keywords:
Key words. Visibility-based planning, Error detection and recovery, Sensor configuration, Camera control, Surveillance.
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mathematics
Notes:
Abstract. We consider the problem of planning sensor control strategies that enable a sensor to be automatically configured for robot tasks. In this paper we present robust and efficient algorithms for computing the regions from which a sensor has unobstructed or partially obstructed views of a target in a goal. We apply these algorithms to the Error Detection and Recovery problem of recognizing whether a goal or failure region has been achieved. Based on these methods and strategies for visually cued camera control, we have built a robot surveillance system in which one mobile robot navigates to a viewing position from which it has an unobstructed view of a goal region, and then uses visual recognition to detect when a specific target has entered the region.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/s004539910018
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