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Authors: Benjamin Deutsch 1 ; Frank Deinzer 1 ; Matthias Zobel 1 and Joachim Denzler 2

Affiliations: 1 University of Erlangen-Nuremberg, Germany ; 2 University of Passau, Germany

ISBN: 972-8865-12-0

ISSN: 2184-2809

Keyword(s): Service Robotics, Object Tracking, Zoom Planning, Object Recognition, Grip Planning.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vision, Recognition and Reconstruction

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. (More)

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Paper citation in several formats:
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

@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},
}

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

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