Task-Oriented Generation of Visual Sensing Strategies

In vision-guided robotic operations, vision is used for extracting necessary information for achieving the task. Since visual sensing is usually performed with limited resources, visual sensing strategies should be planned so that only necessary information is obtained e ciently. This paper describes a method of systematically generating visual sensing strategies based on knowledge of the task to be performed. The generation of the appropriate visual sensing strategy entails knowing what information to extract, where to get it, and how to get it. This is facilitated by the knowledge of the task, which describes what objects are involved in the operation, and how they are assembled. Our method has been implemented using a laser range nder as the sensor. Experimental results show the feasibility of the method, and point out the importance of task-oriented evaluation of visual sensing strategies.