In field environments it is not usually possible to provide robotic systems with valid/complete geometric models of the task and environment. The robot or robot teams will need to create these models by performing appropriate sensor actions. Additionally, the robot(s) will need to position their sensors in a task directed optimum way. Here, an algorithm based on iterative sensor planning and se...

This paper proposes an algorithm to optimize the placement of surveillance cameras in a 3D infrastructure. The key differentiating feature in the algorithm design is the incorporation of human behavior within the infrastructure for optimization. Infrastructures depending on their geometries may exhibit regions with dominant human activity. In the absence of observations, this paper presents a m...

We consider the problems of placing cameras so that every point on a perimeter, that is not necessarily planar, is covered by at least one camera while using the smallest number of cameras. This is accomplished by aligning the edges of the cameras’ fields of view with points on the boundary under surveillance. Taken into consideration are visibility concerns, where features such as mountains mu...

The problem we would like to approach is the automation of the camera network design process in order to obtain accurate 3D measurements. We restrict ourselves to the problem where the camera positions are limited only by the incidence angle constraint and it is simplified to the case where the cameras remain at a fixed distance to the set of target points to be measured. The main question we w...

Automated camera control has been an active area of research for a number of years. The problem has been addressed in the Graphics, AI and Game communities from different perspectives. The main focus of the research in the Graphics community has been frame composition and coherence. The AI community has focused on intelligent shot selection, and the Games community strives for realtime cinemati...

Rapid increase in the quality of 3D content coupled with the evolution of hardware rendering techniques urges the development of camera control systems that enable the application of aesthetic rules and conventions from visual media such as film and television. One of the most important problems in cinematography is that of composition, the precise placement of elements in shot. Researchers alr...

This paper introduces a sensor placement measure called resolvability. The measure provides a technique for estimating the relative ability of various visual sensors, including monocular systems, stereo pairs, multi-baseline stereo systems, and 3D rangefinders, to accurately control visually manipulated objects. The resolvability ellipsoid illustrates the directional nature of resolvability, an...