A Solution to the Next Best View Problem for Automated Surface Acquisition
IEEE Transactions on Pattern Analysis and Machine Intelligence
A General Method for Sensor Planning in Multi-Sensor Systems: Extension to Random Occlusion
International Journal of Computer Vision
Visual object-action recognition: Inferring object affordances from human demonstration
Computer Vision and Image Understanding
Generalized multi-sensor planning
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
| Hi-index | 0.00 |
In vision-guided robotic operations, vision is used for extracting necessary information for achieving the task. Since visual sensing is usually performed with limited resources, visual sensing strategies should be planned so that only necessary information is obtained efficiently. This paper describes a method of systematically generating visual sensing strategies based on knowledge of the task to be performed. The generation of the appropriate visual sensing strategy entails knowing what information to extract, where to get it, and how to get it. This is facilitated by the knowledge of the task, which describes what objects are involved in the operation, and how they are assembled. Our method has been implemented using a laser range finder as the sensor. Experimental results show the feasibility of the method, and point out the importance of task-oriented evaluation of visual sensing strategies.