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Autonomous visual exploration of complex objects
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
https://hal.inria.fr/inria-00352127
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Monday, January 12, 2009 - 2:47:18 PM
Last modification on : Friday, February 4, 2022 - 3:18:42 AM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:39:37 PM
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Monday, January 12, 2009 - 2:47:18 PM
Last modification on : Friday, February 4, 2022 - 3:18:42 AM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:39:37 PM
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2001_iros_flandin.pdf
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