A randomized art-gallery algorithm for sensor placement

Abstract

This paper descirbes a placement strategy to compute a set of “good” locations where visual sensing will be most effective. Throughout this paper it is assumed that a {\em polygonal 2-D map} of a workspace is given as input. This polygonal map --- also known as a {\em floor plan} of {\em layout} --- is used to compute a set of locations where expensive sensing tasks (such as 3-D image acquisition) could be executed. A map-building robot, for example, can visit these locations in order to build a full 3-D model of the workspace.