ACTIVE SENSING STRATEGIES FOR ROBOTIC PLATFORMS, WITH AN APPLICATION IN VISION-BASED GRIPPING

Benjamin Deutsch, Frank Deinzer, Matthias Zobel, Joachim Denzler

Abstract

We present a vision-based robotic system which uses a combination of several active sensing strategies to grip a free-standing small target object with an initially unknown position and orientation. The object position is determined and maintained with a probabilistic visual tracking system. The cameras on the robot contain a motorized zoom lens, allowing the focal lengths of the cameras to be adjusted during the approach. Our system uses an entropy-based approach to find the optimal zoom levels for reducing the uncertainty in the position estimation in real-time. The object can only be gripped efficiently from a few distinct directions, requiring the robot to first determine the pose of the object in a classification step, and then decide on the correct angle of approach in a grip planning step. The optimal angle is trained and selected using reinforcement learning, requiring no user-supplied knowledge about the object. The system is evaluated by comparing the experimental results to ground-truth information.

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Paper Citation


in Harvard Style

Deutsch B., Deinzer F., Zobel M. and Denzler J. (2004). ACTIVE SENSING STRATEGIES FOR ROBOTIC PLATFORMS, WITH AN APPLICATION IN VISION-BASED GRIPPING . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 169-176. DOI: 10.5220/0001140901690176


in Bibtex Style

@conference{icinco04,
author={Benjamin Deutsch and Frank Deinzer and Matthias Zobel and Joachim Denzler},
title={ACTIVE SENSING STRATEGIES FOR ROBOTIC PLATFORMS, WITH AN APPLICATION IN VISION-BASED GRIPPING},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={169-176},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001140901690176},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ACTIVE SENSING STRATEGIES FOR ROBOTIC PLATFORMS, WITH AN APPLICATION IN VISION-BASED GRIPPING
SN - 972-8865-12-0
AU - Deutsch B.
AU - Deinzer F.
AU - Zobel M.
AU - Denzler J.
PY - 2004
SP - 169
EP - 176
DO - 10.5220/0001140901690176