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Dynamic sensor planning with stereo for model identification on a mobile platform

Ma, Jeremy and Burdick, Joel W. (2010) Dynamic sensor planning with stereo for model identification on a mobile platform. In: 2010 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 3233-3239. ISBN 978-1-4244-5038-1. http://resolver.caltech.edu/CaltechAUTHORS:20170314-163259324

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Abstract

This paper presents an approach to sensor planning for simultaneous pose estimation and model identification of a moving object using a stereo camera sensor mounted on a mobile base. For a given database of object models, we consider the problem of identifying an object known to belong to the database and where to move next should the object not be easily identifiable from the initial viewpoint. No constraints on the motion of the object nor the robot itself are assumed, which is an improvement on previous methods. Sensor planning is based on the selection of the control action that optimizes a cost metric based on information gain. Experimental results from the implementation of the method on a two-wheeled nonholonomic robot are presented to illustrate and validate the method.


Item Type:Book Section
Related URLs:
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http://dx.doi.org/10.1109/ROBOT.2010.5509205DOIArticle
Additional Information:© 2010 IEEE.
Record Number:CaltechAUTHORS:20170314-163259324
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20170314-163259324
Official Citation:J. Ma and J. W. Burdick, "Dynamic sensor planning with stereo for model identification on a mobile platform," 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010, pp. 3233-3239. doi: 10.1109/ROBOT.2010.5509205
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:75121
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:16 Mar 2017 17:02
Last Modified:12 Jun 2019 21:23

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