Active vision in robotic systems: A survey of recent developments
International Journal of Robotics Research
A Computational Learning Theory of Active Object Recognition Under Uncertainty
International Journal of Computer Vision
Cylindrical Pellet Pose Estimation in Clutter using a Single Robot Mounted Camera
Proceedings of Conference on Advances In Robotics
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In many cases, a single view of an object may not contain sufficient features to recognize it unambiguously. This paper presents a new online recognition scheme based on next view planning for the identification of an isolated 3D object using simple features. The scheme uses a probabilistic reasoning framework for recognition and planning. Our knowledge representation scheme encodes feature based information about objects as well as the uncertainty in the recognition process. This is used both in the probability calculations as well as in planning the next view. Results clearly demonstrate the effectiveness of our strategy for a reasonably complex experimental set