Multiobjective Sensor Planning for Accurate Reconstruction

Abstract

This chapter starts with a review of sensor planning and the problem of photogrammetric network design. Next, a quick review of multiobjective problem design is offered in order to prepare for the analysis of sensor planning from a multiobjective standpoint. Thus, three main criteria – accurate 3D reconstruction, efficient robot motion, and computational cost – relevant to the task are introduced towards the achievement of Pareto optimal sensing strategies. As a result, an evolutionary-based optimization methodology is outlined with the goal of planning photogrammetric networks. Experimental results in simulation and practice are provided, giving novel and well-known camera configurations that validate the practicality of the proposed methodology.

“Everyone by now presumably knows about the danger of premature optimization. I think we should be just as worried about premature design – designing too early what a program should do.”

– Paul Graham

“The question is not what you look at, but what you see.”

– Henry David Thoreau