Planning sensing strategies in a robot work cell with multi-sensor capabilities

Author

Hutchinson, S.A. ; Cromwell, R.L. ; Kak, A.C.

Author_Institution

Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA

fYear

1988

fDate

24-29 Apr 1988

Firstpage

1068

Abstract

The authors present an approach to planning sensing strategies in a robot workcell with multisensor capabilities. The system first forms an initial set of object hypotheses by using one of the sensors. Subsequently, the system reasons over different possibilities for selecting the next sensing operation, this being done in a manner so as to maximally disambiguate the initial set of hypotheses. The `next sensing operation´ is characterized by both the choice of the sensor and the viewpoint to be used. Aspect graph representation of objects plays a central role in the selection of the viewpoint, these representations being derived automatically by a solid modelling program

Keywords

control system CAD; detectors; robots; CAD; aspect graph; multisensor; robot workcell; sensing strategy planning; solid modelling; Computer vision; Intelligent sensors; Laboratories; Robot sensing systems; Robot vision systems; Sensor phenomena and characterization; Sensor systems; Smart cameras; Solid modeling; Strategic planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Conference_Location

Philadelphia, PA

Print_ISBN

0-8186-0852-8

Type

conf

DOI

10.1109/ROBOT.1988.12202

Filename

12202