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Autonomous visual exploration of complex objects

Grégory Flandin 1 François Chaumette 1
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : We present a suitable object knowledge representation, based on a mixture of stochastic and set membership models. We consider that, for a large class of applications, an approximated representation of objects is sufficient to build a preliminary map of the scene. Our approximation mainly results in ellipsoidal calculus by means of a normal assumption for stochastic laws and ellipsoidal over or inner bounding for uniform laws. These approximations allow us to build an efficient estimation process integrating visual data online. Based on this estimation scheme, we perform online and optimal exploratory motions for the camera
Mots-clés : Asservissement robotique VA
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Conference papers
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https://hal.inria.fr/inria-00352127
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Submitted on : Monday, January 12, 2009 - 2:47:18 PM
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Grégory Flandin, François Chaumette. Autonomous visual exploration of complex objects. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'01, 2001, Maui, Hawaii, United States. pp.1533-1539. ⟨inria-00352127⟩

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