An optimal sensing strategy for recognition and localization of 3D natural quadric objects

An optimal sensing strategy for an optical proximity sensor system engaged in the recognition and localization of 3D natural quadric objects is presented. The optimal sensing strategy consists of the selection of an optimal beam orientation and the determination of an optimal probing plane that compose an optimal data collection operation known as an optimal probing. The decision of an optimal probing is based on the measure of discrimination power of a cluster of surfaces on a multiple interpretation image, where the measure of discrimination power is defined in terms of a utility function computing the expected number of interpretations that can be pruned out by a probing. An object representation suitable for active sensing based on a surface description vector distribution graph and hierarchical tables is presented. Experimental results are shown