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Authors: Sebastian Haner and Anders Heyden

Affiliation: Lund University, Sweden

Keyword(s): Path Planning, Next Best View Planning, Active Vision, Discrete Optimization, Semidefinite Programming, Genetic Algorithm.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Applications ; Computer Vision, Visualization and Computer Graphics ; Geometry and Modeling ; Image-Based Modeling ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Robotics ; Software Engineering

Abstract: This paper presents a discrete model of a sensor path planning problem, with a long-term planning horizon. The goal is to minimize the covariance of the reconstructed structures while meeting constraints on the length of the traversed path of the sensor. The sensor is restricted to move on a graph representing a discrete set of configurations, and additional constraints can be incorporated by altering the graph connectivity. This combinatorial problem is formulated as an integer semi-definite program, the relaxation of which provides both a lower bound on the objective cost and input to a proposed genetic algorithm for solving the original problem. An evaluation on synthetic data indicates good performance.

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Paper citation in several formats:
Haner, S. and Heyden, A. (2015). Discrete Optimal View Path Planning. In Proceedings of the 10th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2015) - Volume 1: VISAPP; ISBN 978-989-758-091-8; ISSN 2184-4321, SciTePress, pages 411-419. DOI: 10.5220/0005252104110419

@conference{visapp15,
author={Sebastian Haner. and Anders Heyden.},
title={Discrete Optimal View Path Planning},
booktitle={Proceedings of the 10th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2015) - Volume 1: VISAPP},
year={2015},
pages={411-419},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005252104110419},
isbn={978-989-758-091-8},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2015) - Volume 1: VISAPP
TI - Discrete Optimal View Path Planning
SN - 978-989-758-091-8
IS - 2184-4321
AU - Haner, S.
AU - Heyden, A.
PY - 2015
SP - 411
EP - 419
DO - 10.5220/0005252104110419
PB - SciTePress