Viewpoint Planning for Object Identification Using Visual Experience According to Long-Term Activity-Reference-Cited by-同舟云学术

Viewpoint Planning for Object Identification Using Visual Experience According to Long-Term Activity

Published:2022-03-05 Issue:2 Volume:16 Page:197-207
ISSN:1883-8022
Container-title:International Journal of Automation Technology
language:en
Short-container-title:IJAT

Author:

Yamazaki Kimitoshi, ,Nogami Kazuki,Nagahama Kotaro

Abstract

In this paper, we propose a viewpoint planning method for object identification. We introduce the policy of maximizing the posterior probability of the orientation of an object observed after a robot moves its viewpoint and show a novel formulation of viewpoint planning. In addition, we propose criteria for viewpoint selection based on past sensing experience. Finally, we confirm the effectiveness of the proposed method via simulations using a mobile manipulator.

Publisher

Fuji Technology Press Ltd.

Subject

Industrial and Manufacturing Engineering,Mechanical Engineering

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