Optimal camera and marker arrangements for an active-vision system

Abstract

A new active-vision system for 3-D object recognition in robotic assembly workcells is being developed. In this system, image analysis is simplified by premarking the objects with artificial markers and utilizing a mobile camera to acquire views of the objects prespecified by markers. Hence, the objects are represented by a small set of 2-D perspective projections. In this context, an important problem to be addressed is the determination of the number of markers and their locations on the objects, and of the placement of the mobile camera to guarantee the detection of at least one marker. The authors present a solution to the optimal arrangement of markers and camera location(s), given the objects' solid models and a set of constraints.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>