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Published November 2009 | Published
Book Section - Chapter Open

Sensor Planning for Object Pose Estimation and Identification

Abstract

This paper proposes a novel approach to sensor planning for simultaneous object identification and 3D pose estimation. We consider the problem of determining the next-best-view for a movable sensor (or an autonomous agent) to identify an unknown object from among a database of known object models. We use an information theoretic approach to define a metric (based on the difference between the current and expected model entropy) that guides the selection of the optimal control action. We present a generalized algorithm that can be used in sensor planning for object identification and pose estimation. Experimental results are also presented to validate the proposed algorithm.

Additional Information

© 2009 IEEE. Issue Date: 6-7 Nov. 2009. Date of Current Version: 18 December 2009.

Attached Files

Published - Ma2009p138702009_Ieee_International_Workshop_On_Robotic_And_Sensors_Environments__Rose_2009_.pdf

Files

Ma2009p138702009_Ieee_International_Workshop_On_Robotic_And_Sensors_Environments__Rose_2009_.pdf

Additional details

Created:
August 19, 2023
Modified:
October 23, 2023