| dc.contributor | 資科系 | |
| dc.creator (作者) | Li, Tsai-yen;Yu, Tzong-Hann | |
| dc.creator (作者) | 李蔡彥 | zh_TW |
| dc.date (日期) | 2000 | |
| dc.date.accessioned | 17-Jun-2015 14:53:52 (UTC+8) | - |
| dc.date.available | 17-Jun-2015 14:53:52 (UTC+8) | - |
| dc.date.issued (上傳時間) | 17-Jun-2015 14:53:52 (UTC+8) | - |
| dc.identifier.uri (URI) | http://nccur.lib.nccu.edu.tw/handle/140.119/75871 | - |
| dc.description.abstract (摘要) | In tele -present or tele -operation applications, an inte l- ligent observer is a virtual camera that can perform autonomous motions to assist a user in accomplishing de- sired observing tasks. In this paper we consider the problem of generating and modifying the motions of an intelligent observer tracking a moving target in an online manner. Given the target`s trajectory, we first plan the observer`s motion to maintain visibility with the target while optimizing certain time-dependent camera-specific criteria. During the execution of the motion, we allow a user to interactively command the observer to deviate from the planned path while guaranteeing visibility with the target in the remaining motion. The online nature of the problem imposes a co n- straint on the planning time allowed in each execution cycle. Efficiency of the motion planner becomes the greatest con- cern. In this work we formulate the problem in the relative configuration-time space (CT-space) of the observer and adopt a best-first algorithm to search for a feasible path. In addition, we propose an incremental backward search algo- rithm in the CT-space to handle dynamic modification of the planned path. Simulation experiments show that the planner can generate a feasible tracking path in fractions of a sec- ond and maintain validity of the planned path for each exe- cution cycle in tens of milliseconds. This planning efficiency is achieved partly due to an efficient visibility detection al- gorithm that we have developed for planning tracking mo- tions. This implemented intelligent system is part of an in- teractive3D auto-navigation system for virtual factories. We believe that these experimental results can inspire a new line of potential applications that could benefit from active, in- telligent observations. | |
| dc.format.extent | 265170 bytes | - |
| dc.format.mimetype | application/pdf | - |
| dc.title (題名) | ON-LINE PLANNING FOR AN INTELLIGENT OBSERVER IN A VIRTUAL FACTORY | |
| dc.type (資料類型) | article | en |
