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Discrete Optimal View Path Planning

Haner, Sebastian LU and Heyden, Anders LU (2015) 10:th International Conference on Computer Vision Theory and Applications (VISAPP 2015) In Proceedings of the 10th International Conference on Computer Vision Theory and Applications (VISAPP 2015), Vol. 1-3 p.411-419
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.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
Proceedings of the 10th International Conference on Computer Vision Theory and Applications (VISAPP 2015), Vol. 1-3
editor
Braz, José; Battiato, Sebastiano and Imai, Francisco
pages
9 pages
publisher
SciTePress
conference name
10:th International Conference on Computer Vision Theory and Applications (VISAPP 2015)
external identifiers
  • Scopus:84939524641
ISBN
978-989-758-091-8
978-989-758-089-5
978-989-758-090-1
DOI
10.5220/0005252104110419
language
English
LU publication?
yes
id
3ac0bf1e-0347-4291-a4ec-6a7c6e44214f (old id 5274726)
date added to LUP
2015-07-07 16:53:03
date last changed
2017-01-01 08:05:05
@inproceedings{3ac0bf1e-0347-4291-a4ec-6a7c6e44214f,
  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.},
  author       = {Haner, Sebastian and Heyden, Anders},
  booktitle    = {Proceedings of the 10th International Conference on Computer Vision Theory and Applications (VISAPP 2015), Vol. 1-3},
  editor       = {Braz, José and Battiato, Sebastiano and Imai, Francisco},
  isbn         = {978-989-758-091-8},
  language     = {eng},
  pages        = {411--419},
  publisher    = {SciTePress},
  title        = {Discrete Optimal View Path Planning},
  url          = {http://dx.doi.org/10.5220/0005252104110419},
  year         = {2015},
}