ICRA 2011 Paper Abstract


Paper ThP203.4

Holec, Eric (University of Minnesota), Papanikolopoulos, Nikos (University of Minnesota)

A Probabilistic Quality Metric for Camera Placement in 3D Reconstructions

Scheduled for presentation during the Regular Sessions "Sensor Networks" (ThP203), Thursday, May 12, 2011, 16:10−16:25, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Medical Robots and Systems, Sensor Networks


This paper describes the use of a probabilistic quality metric for planning camera placement for 3D reconstructions. A probabilistic quality metric estimates the probability of a reconstruction achieving a desired goal. This probabilistic model leads to the natural integration of many different factors influencing the quality of a reconstruction without relying on arbitrary weights for those factors. The specific factors addressed here are occlusions, feature matching, and feature localization. It is demonstrated how these factors impact the quality of a reconstruction and how they can be accounted for in a probabilistic manner. The developed quality metric is then used to optimize a camera network for patient tracking during tomotherapy.



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