Camera Placement Optimization Using Virtual Model Matching
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Solution Overview
Problem
Existing methods for determining the placement of cameras or range sensors to accurately measure the position and orientation of objects in robotics are limited by errors in matching between measurement data and 3D shape models, leading to decreased accuracy due to uncertainties in both measurement data and matching processes.
Innovation Solution
An information processing apparatus that generates and evaluates candidates for camera or range sensor placement based on both measurement data uncertainty and matching errors, using a 3D shape model and virtual data matching to determine the optimal position and orientation for accurate object measurement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If model fitting is used to measure position and orientation, then measurement can be performed, but matching errors between measurement data and 3D shape model reduce accuracy
Solution Approach 1:
The invention performs preliminary evaluation of multiple candidate placements before final measurement. By calculating uncertainty values for each candidate placement in advance and selecting the optimal one, the system prepares the best possible measurement configuration before actual measurement occurs, thereby reducing both measurement errors and matching errors
Solution Approach 2:
The invention introduces feedback by using uncertainty calculation based on measurement data quality to evaluate candidate placements. The uncertainty value serves as feedback that guides the selection of optimal placement, creating a closed-loop system where measurement data quality informs placement decisions to improve overall accuracy
2Measurement precision
If camera or range sensor placement is optimized based on measurement data uncertainty, then measurement accuracy improves, but matching errors still reduce overall accuracy
Solution Approach 1:
The system performs preliminary evaluation of multiple candidate placements by calculating uncertainty values for each. This advance evaluation allows selection of the placement that will minimize both measurement data errors and matching errors before actual measurement occurs
Solution Approach 2:
The invention uses virtual camera placement and rendering to create copies of measurement scenarios. By virtually placing cameras at different candidate positions and rendering images, the system can evaluate placement quality without physical trial-and-error, comparing virtual measurement results to select the optimal placement
Data Source
AI summary
An information processing apparatus for determining a placement of an image capturing apparatus capable of accurately measuring the position and orientation of an object through model fitting includes a holding unit that holds a 3D model representing a 3D shape of the object, a generating unit that generates candidates of the position and orientation of the image capturing apparatus relative to the object, an evaluating unit that evaluates the candidates of the position and orientation of the image capturing apparatus relative to the object based on a result of matching between data that virtually generates the object observed when the image capturing apparatus is placed in the position and orientation generated by the generating unit and the 3D model, and a determining unit that determines the position and orientation of the image capturing apparatus relative to the object based on the result of evaluation performed by the evaluating unit.