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Automatic Task Planning for Robot Vision

Bill Triggs 1, 2 Christian Laugier 2
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : This paper describes an automated planner for visual inspection and monitoring tasks using a robot mounted CCD camera. It is capable of finding heuristically near-optimal viewing positions for a series of visual tasks, and of ordering them and planning robot paths between them to produce a near minimal cost overall task plan for the sequence. It has been optimized for intervention-style tasks with relatively large, cluttered workspaces, where it is difficult for a human operator to take account of all the constraints involved. The guiding principle of the work has been to aim for reliability by using quantitative, physically-based measures of quality wherever possible, and by using global search to ensure that possible solutions are not overlooked. We discuss a novel global function optimization technique based on decision theory and subjective models of function behaviour, that allows global viewpoint searches to run in the time usually required for local ones.
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https://hal.inria.fr/inria-00548384
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Bill Triggs, Christian Laugier. Automatic Task Planning for Robot Vision. 7th International Symposium on Robotics Research, Oct 1995, Munich, Germany. ⟨inria-00548384⟩

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