Optimizing eye-in-arm robot localization of known objects
نویسندگان
چکیده
Locating known objects is an important task for robots. When a robot has a single camera located in its arm, the robot can use it to get pictures from multiple points of view. These pictures can be used for locating in 3D a desired object, when the object is found on the floor within a bounded distance from the robot. Here we propose a technique for planning a sequence of arm positions to be used for capturing the camera snapshots that can locate the object with given precision. Heuristics are used to reduce the number of steps (i.e., camera snapshot taking operations) performed by the robot following the obtained contingency plan.
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