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)
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:
https://lup.lub.lu.se/record/5274726
- author
- Haner, Sebastian
LU
and Heyden, Anders
LU
- organization
- publishing date
- 2015
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 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)
- conference location
- Berlin, Germany
- conference dates
- 2015-03-11 - 2015-03-14
- 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
- additional info
- The full text of this paper is only available to INSTICC members.
- id
- 3ac0bf1e-0347-4291-a4ec-6a7c6e44214f (old id 5274726)
- date added to LUP
- 2016-04-04 11:44:54
- date last changed
- 2023-11-01 23:39:12
@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}},
doi = {{10.5220/0005252104110419}},
year = {{2015}},
}