TY - GEN
T1 - View planning for 3D object reconstruction with a mobile manipulator robot
AU - Vasquez-Gomez, J. Irving
AU - Sucar, L. Enrique
AU - Murrieta-Cid, Rafael
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - The task addressed in this paper is to plan iteratively a set views in order to reconstruct an object using a mobile manipulator robot with an 'eye-in-hand' sensor. The proposed method plans views directly in the configuration space avoiding the need of inverse kinematics. It is based on a fast evaluation and rejection of a set of candidate configurations. The main contributions are: a utility function to rank the views and an evaluation strategy implemented as a series of filters. Given that the candidate views are configurations, motion planning is solved using a rapidly-exploring random tree. The system is experimentally evaluated in simulation, contrasting it with previous work. We also present experiments with a real mobile manipulator robot, demonstrating the effectiveness of our method.
AB - The task addressed in this paper is to plan iteratively a set views in order to reconstruct an object using a mobile manipulator robot with an 'eye-in-hand' sensor. The proposed method plans views directly in the configuration space avoiding the need of inverse kinematics. It is based on a fast evaluation and rejection of a set of candidate configurations. The main contributions are: a utility function to rank the views and an evaluation strategy implemented as a series of filters. Given that the candidate views are configurations, motion planning is solved using a rapidly-exploring random tree. The system is experimentally evaluated in simulation, contrasting it with previous work. We also present experiments with a real mobile manipulator robot, demonstrating the effectiveness of our method.
UR - http://www.scopus.com/inward/record.url?scp=84911466884&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6943158
DO - 10.1109/IROS.2014.6943158
M3 - Contribución a la conferencia
AN - SCOPUS:84911466884
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4227
EP - 4233
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -