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.
Type de document :
Communication dans un congrès
7th International Symposium on Robotics Research, Oct 1995, Munich, Germany. 1995
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  • HAL Id : inria-00548384, version 1




Bill Triggs, Christian Laugier. Automatic Task Planning for Robot Vision. 7th International Symposium on Robotics Research, Oct 1995, Munich, Germany. 1995. 〈inria-00548384〉



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