Research On The Approch For Determining The Next Best View Of Vision Objective Based On Range Image

In the vision research fields such as3-dimension scene reconstruction, objectrecognition and localization, feature detection and machine navigation, etc, the problem ofdetermining the next best view has become one of main influence factors for the executiveeffect of various tasks. How to find an accurate and reasonable approach to determine thenext best view is the pivotal link to solve all kinds of vision problems. Based on analysisof the present situation of the domestic and foreign research, visual object range imageinformation, this paper comprehensivly uses many aspects of theories knowledge and dostudies on the approach for determining the next best view, depending on the range imageof vision objective.Firstly, the related knowledge of range image and the volumetric representing of the3-dimension scene are introduced. And several common objective function optimazingmethods are introduced.Secondly, a method for determining the camera's view is elaborated. Based on theobtaining range data, a3-dimension representation of the scene, namely voxel map, isbuilt. Each voxel has several attributes. By marking each kind of voxel, the related voxelinformation of scene is obtained. And the voxel information will be used to define theobjective function related to the next bext view.Thirdly, based on in-depth analysis and studies of the problem of determining thenext best view, an approach for determining the next best view based on voxel map andsimplex method is proposed in this paper. The problem of the next best view is abstractedto the optimal solution problem of objective function. According to the obtained voxelinformation, an objective function which considers area, quality, overlap, occlusion,navigation and other factors is defined. Then the simplex method is applied to optimizethe objective function and the sensor orientation and position corresponding to the optimalsolution of the objective function just is the next best view.Finally, experimental results show that the proposed method is feasible and effective,and the analysis of experimental results are made.