Active perception based on Hough transform and evolutionary computation using 3D range sensor

Recently, the need of service robots is increasing, and the performance of intelligent technology for perceiving objects and people should be improved. We focus on a service robot system for clearing a table as a human-friendly task. The task is composed of (1) target object detection, (2) the estimation of position and posture of the target objects, and (3) the clearing of the target object. Therefore, this paper proposes a method of estimating the position and posture of the target object based on Hough transform and steady-state genetic algorithm. Next, we define the perceptual index to evaluate the state of perception to specify the position and posture of target objects. Furthermore, we discuss the availability of the proposed perceptual index through preliminary experimental results.