A Generic View Planning Algorithm Based on Formal Description of Perception Tasks

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	A Generic View Planning Algorithm Based on Formal Description of Perception Tasks
	Kong YZ(孔研自)1,3,4,5; Zhu F(朱枫)1,3,5; Sun HB(孙海波)1,2,3,5; Wang Q(王群)1,3,4,5; Lin ZY(林智远)1,3,4,5
	2021
会议日期	December 27-31, 2021
会议地点	Sanya, China
页码	1136-1141
英文摘要	We propose a generic view planning algorithm that adjusts postures of the sensor automatically for multi-view perceptions. Formal description of the perception task is brought forward, including objects' prior information library, the perception status, and tasks' completion status. The view planning system operates on the basis of the formal expression, therefore it is not restricted by specific tasks. We employ the features that distinguish all candidate classes, together with features that define the rough shape of each class, as representation of the perceived information about the objects. The existence of features in each candidate class, the description of features, and the location relationship between features are known before perception, and they are filled in the fixed-form prior information library. All status are updated when data is received at a new view. To pick out the view that maximizes the acquisition of effective information, candidate views are sorted by a weighted evaluation function based on the updated status. Experiments of view planning for 3D recognition and reconstruction tasks are conducted, and the result shows that our algorithm has a good performance on multiple tasks.
源文献作者	Chiba Institute of Technology ; et al. ; IEEE Robotics and Automation Society ; Nankai University ; Shenyang Institute of Automation ; Shenzhen Academy of Robotics
产权排序	1
会议录	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
会议录出版者	IEEE
会议录出版地	New　York
语种	英语
ISBN号	978-1-6654-0535-5
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/30826]
专题	沈阳自动化研究所_光电信息技术研究室
通讯作者	Zhu F(朱枫)
作者单位	1.Key Laboratory of Opto-Electronic Information Processing, Chinese Academy of Sciences, Shenyang, China 2.Northeastern University, Shenyang, China 3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 4.University of Chinese Academy of Sciences, Beijing, China 5.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 GB/T 7714	Kong YZ,Zhu F,Sun HB,et al. A Generic View Planning Algorithm Based on Formal Description of Perception Tasks[C]. 见:. Sanya, China. December 27-31, 2021.