Multisensor placement in 3D environments via visibility estimation and derivative-free optimization (original) (raw)
2015, 2015 IEEE International Conference on Robotics and Automation (ICRA)
This paper proposes a complete system for robotic sensor placement in initially unknown arbitrary threedimensional environments. The system uses a novel approach for computing the quality of acquisition of a mobile sensor group in such environments. The quality of acquisition is based on a geometric model of a camera which allows accurate sensor models and simple occlusion computation. The proposed system combines this new metric with a global derivative-free optimization algorithm to find simultaneously the number of sensors and their configuration to sense accordingly the environment. The presented framework compares favourably with current techniques working in two-dimensional environments. Furthermore, simulation and experimental results demonstrate the ability of the system to cope with full three-dimensional environments, a domain still unexplored by previous methods.
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