Using NEWUOA to drive the autonomous visual modeling of an object by a Humanoid Robot - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2009

Using NEWUOA to drive the autonomous visual modeling of an object by a Humanoid Robot

Abstract

A significant amelioration of our previous work is presented aiming at building autonomously visual models of unknown objects, with a humanoid robot. Previously we introduced a Next-Best-View solution using two stages: (i) an optimization algorithm without derivatives finds a camera pose maximizing the amount of unknown data visible, and (ii) a whole robot posture is generated with a different optimization method where the computed camera pose is set as a constraint on the robot head. The original algorithm is modified in order to improve the robustness while broadening the cases that can be handeld. More specifically, the visibility constraint on the object's land- marks and the unknown quantification is improved while a new constraint is introduced to avoid specific poses.
Fichier principal
Vignette du fichier
icia09.pdf (434.18 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

inria-00567680 , version 1 (21-02-2011)

Identifiers

Cite

Torea Foissotte, Olivier Stasse, Pierre-Brice Wieber, Abderrahmane Kheddar. Using NEWUOA to drive the autonomous visual modeling of an object by a Humanoid Robot. ICIA: International Conference on Information and Automation, Jun 2009, Zhuhai, China. pp.78-83, ⟨10.1109/ICINFA.2009.5204897⟩. ⟨inria-00567680⟩
332 View
238 Download

Altmetric

Share

Gmail Facebook X LinkedIn More