Active vision
Active vision
Integration, Coordination and Control of Multi-Sensor Robot Systems
Integration, Coordination and Control of Multi-Sensor Robot Systems
Data Fusion for Sensory Information Processing Systems
Data Fusion for Sensory Information Processing Systems
Recursive filtering with non-Gaussian noises
IEEE Transactions on Signal Processing
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We present an active vision algorithm for computing the orientation and position of a locally planar object, onto which is cast a shadow of the edge of a half-plane at an unknown location. This algorithm utilises active position control of a point light source, and employs a Kalman filter to perform temporal integration of measurements. The light source position is adjusted after each measurement so as to reduce the trace of the expected state estimate error covariance matrix for the next measurement. We demonstrate the active shape-from-shadows algorithm using a real robotic system.