,
, 122 6.2.2.2 Biggest map with numerous waypoints
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, The coverage is made by selecting a set of adapted waypoints. The coverage must be good enough to enable reconstruction of the 3D shape of the object without any occlusion. Result here are obtained by the method of Hoppe et al, p.13
, The aim is to focus on covering a road (walking path) in a small room by using only 3 cameras
, Map of an area to cover with crucial sub-area (region of interest), the normal sub-area and obstacle. This map is an example of area coverage
, Illustration of an covered area for tracking target
, The gallery is covered by 4 guards (x 1 ; ...; x 4 ) for a polygon composed by n vertice (v 1
, An omnidirectional sensor centred on x, with a radius r for the range, p.22
, Illustration fo a simple wireless sensor network with omnidirectional sensor centred on x, with a radius r
, Illustration of the area coverage with visual sensors. The area is covered at 47%. Experiment form Jiang et al
, 26 2.10 Result of coverd area after the game theory optimization. The objective of the game therory is to maximize the tracking and the resolution. The results shown are from the experiment made, The images are representing the iterative sequences for the targets tracking and maximized resolution, p.30
, Illustration of the area coverage by a set of cameras randomly scattered (a)
, Watchman route problem answer illustration
, 45 2.15 Illustration of a semi approximate decomposition outcome from the survey of Choset [72]. The 4 figures illustrates the trajectory of the robot over the time
, Illustration of the different sweeps and spirals, p.47
, Finches from Galapagos archipelago extract od The Origin of species by C
, 2 Biologic representation, cell to chromosome until DNA, p.53
, The selection implyed by GA mechanism
, The grid G is placed on the floor to discretize the area covered with numerous grid points g i . The point covered by the camera, belonging to B() are highlighted in red
, 75 4.3 Example of map that must be covered with a randomized area sampling. Illustration from Horster et al [14] (a) Area to cover. (b) Area with the random points of the grid to cover (c) Importance weighting of the area (zone of the interest). (b) allowed position for cameras position, Map representation using random distribution or uniform grid, p.76
, 3D grid with uniform distribution of the grid points. Illustration from
, Illustration of a grid layer in three floor building from [47]. In the figure (b) (d) (c) the uniform grid is visible with the black case of the grid representing the area uncovered and the colored case for the covered area, p.78
, Relief grid used to discretize an area while taking into account the relief
, The rotation composed by three degrees of freedom on pan tilt roll (?, ?, ?), p.84
, The grid is placed on the floor to discretize the area covered, vol.87
, Map to cover with the map boundaries in red (W and H size) in black. The sub-part have no interest to be covered
, ) the blue rectangle represents the field of view of one camera projected onto the ground with z=1 (30 × 20px) and in the figure (c), (d) with z=2 (60 × 40px)
, , vol.106
, Indoor area coverage using V-rep to simulate a realistic environment, p.108
, Coverage area from satellite images with 75 cameras for a coverage of 76.39% using the the GA
, 110 5.7 Optimization of the waypoints poses with a vast outside area and just a few black holes, Coverage area from satellite images with 25 cameras for 90.76% of coverage using the GA and 92.81% of coverage using the
, a) is the area to cover taken from a satellite images,(b) is a mask of the area to cover, (c) is a result of the coverage with the waypoints position, (d) is the representation of the black hole
, 2 Extraction of the curve angle in the trajectory
, Experimentation of coverage path planning in outdoor area, p.123
, Experimentation of coverage path planning in outdoor area, p.124
, Outdoor simulation of the coverage path planning. The camera projection FoV is 40 × 60px and fixed altitude(with a square projection of 40px wide for the positioning optimization)
, Outdoor simulation of the coverage path planning. The camera projection FOV is 40 × 60px and fixed altitude (with a square projection of 40px wide for the positioning optimization)
, Covered area between waypoints following the path planning. Where Wr and Hr are the size of the camera projection as
, 128 6.10 Path plan for maximizing the covered area with a camera projection equal to 40x60px. The area is covered with 5 and 8 waypoints, Influence of the waypoints order in the new cost function, p.129
, Path planning for maximizing the covered area. The area is covered with 15 and 30 waypoints and several cost functions have been tested
, 32 2.2 Sum-up of the solution based on evolutionary method for maximize the coverage
,
, Important clarifications for setting up a GA
, 95 5.1 Design of the experiment to compare the efficiency of PSO and GA in different conditions. (GT is Ground Truth and NW is the maximum Number of Waypoints)
, A.1 Sum-up of the low and high sampling frequency advantages or disadvantages