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Conference Papers Year : 1995

Automatic Task Planning for Robot Vision

Abstract

This paper describes an automated planner for visual inspection and monitoring tasks using a robot mounted CCD camera. It is capable of finding heuristically near-optimal viewing positions for a series of visual tasks, and of ordering them and planning robot paths between them to produce a near minimal cost overall task plan for the sequence. It has been optimized for intervention-style tasks with relatively large, cluttered workspaces, where it is difficult for a human operator to take account of all the constraints involved. The guiding principle of the work has been to aim for reliability by using quantitative, physically-based measures of quality wherever possible, and by using global search to ensure that possible solutions are not overlooked. We discuss a novel global function optimization technique based on decision theory and subjective models of function behaviour, that allows global viewpoint searches to run in the time usually required for local ones.
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Dates and versions

inria-00548384 , version 1 (20-12-2010)

Identifiers

  • HAL Id : inria-00548384 , version 1

Cite

Bill Triggs, Christian Laugier. Automatic Task Planning for Robot Vision. 7th International Symposium on Robotics Research, Oct 1995, Munich, Germany. ⟨inria-00548384⟩
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