Visual Distance for Coverage Modeling and Optimization of Visual Sensor Networks

来源:机械工程学院  作者:高宏力     日期:2019/5/8 10:36:57   点击数:515  

时间:2019-05-12 14:15--2019-05-12 15:00


报告人:Xuebo Zhang博士



Coverage is a key issue for visual sensor networks for industrial inspection, environmental monitoring and surveillance, etc., however, it is still challenging due to the anisotropic field sensing rather point sensing, 3-D sensing of 3-D objects, and high complexity for optimization. In this talk, we will present a visual distance approach for multi-camera deployment through parallel coverage optimization over three-dimensional (3-D) space to inspect 3-D objects. The key idea is the proposal of a new `visual distance' between a single camera and a scene point, which takes into account multiple coverage criteria. It is shown that this new measure is capable of characterizing the coverage level of a task point in a quantitative way. Based on the visual distance, a coverage strength model and a new type of scene partition, called ‘Visual Voronoi Partition’ (VVP), are established, and then a parallel gradient optimization approach is developed to achieve optimal coverage performance of a multi-camera network. Comparative simulation and experimental results are provided to show the effectiveness and superior performance of the proposed approach.


Dr. Xuebo Zhang received the B.Eng. degree in Automation from Tianjin University in 2002, China, and the Ph. D. degree in Control Theory and Control Engineering from Nankai University in 2011, China. From July 2011, he joined the Institute of Robotics and Automatic Information Systems (IRAIS), Nankai University. He is currently an Associate Professor, the deputy head of IRAIS and also the deputy head of Tianjin Key Laboratory of Intelligent Robotics (TJKLIR), Nankai University, China.

His research interests include planning and control of autonomous robotic and mechatronic systems; intelligent perception including robot vision, visual sensor networks, SLAM, etc. He received some research and teaching awards such as First-class and Second-class Natural Science Award of Tianjin City and First-class Award for Teaching Achievements in Higher Education of Tianjin City. He received Nomination of Best Paper Awards in IEEE/ASME AIM 2017, IEEE ARM 2018 and IEEE RCAR 2018. He received the General Chairs’ Recognition Award for Interactive papers in IEEE CDC 2009. He is currently an Associate Editor for ASME Journal of Dynamic Systems, Measurement and Control. He serves as the organization chair of IEEE-CYBER 2018 and the program chair of IEEE RCAR 2019.