Determination of Optimal Position of an Active Camera System Using Inverse Kinematics of Virtual Link Model and Manipulability Measure

가상 링크 모델의 역기구학과 조작성을 이용한 능동 카메라 시스템의 최적 위치 결정에 관한 연구

In this paper, we propose how to determine the optimal camera position using inverse kinematics of virtual link model and manipulability measure. We model the variable distance and viewing direction between a target object and a camera position as a virtual link. And, by using inverse kinematics of virtual link model, we find out regions that satisfy the direction and distance constraints for the observation of target object. The solution of inverse kinematics of virtual link model simultaneously satisfies camera accessibility as well as a direction and distance constraints. And we use a manipulability measure of active camera system in order to determine an optimal camera position among the multiple solutions of inverse kinematics. By using the inverse kinematics of virtual link model and manipulability measure, the optimal camera position in order to observe a target object can be determined easily and rapidly.