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IJAT Vol.16 No.2 pp. 197-207
doi: 10.20965/ijat.2022.p0197
(2022)

Paper:

Viewpoint Planning for Object Identification Using Visual Experience According to Long-Term Activity

Kimitoshi Yamazaki, Kazuki Nogami, and Kotaro Nagahama

Shinshu University
4-17-1 Wakasato, Nagano City, Nagano 380-8553, Japan

Corresponding author

Received:
May 13, 2021
Accepted:
September 24, 2021
Published:
March 5, 2022
Keywords:
viewpoint planning, long-term activity, next-best-view (NBV) problem, tidying task
Abstract

In this paper, we propose a viewpoint planning method for object identification. We introduce the policy of maximizing the posterior probability of the orientation of an object observed after a robot moves its viewpoint and show a novel formulation of viewpoint planning. In addition, we propose criteria for viewpoint selection based on past sensing experience. Finally, we confirm the effectiveness of the proposed method via simulations using a mobile manipulator.

Cite this article as:
K. Yamazaki, K. Nogami, and K. Nagahama, “Viewpoint Planning for Object Identification Using Visual Experience According to Long-Term Activity,” Int. J. Automation Technol., Vol.16, No.2, pp. 197-207, 2022.
Data files:
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Last updated on Sep. 30, 2022