论文标题
通过3D摄像头预测优化与重叠覆盖范围的相机位置
Optimizing Camera Placements for Overlapped Coverage with 3D Camera Projections
论文作者
论文摘要
本文提出了一种计算相机6DOF姿势的方法，以实现用户定义的覆盖范围。相机放置问题被建模为组合优化，鉴于相机数量的最大数量，从较大的可能的相机姿势中选择了相机集。我们建议将所需覆盖范围和所达到的覆盖范围之间的平方误差最小化，并将非线性成本函数作为混合整数线性编程问题。相机镜头模型可用于在3D体voxel地图上投射摄像机视图，以计算覆盖范围分数，这使得在真实环境中的优化问题可进行。与现有方法相比，两个实际零售商店环境中的实验结果表明，在覆盖范围和三角测量的重叠方面，提出的配方表现更好。
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.
