Task-Directed Sensor Fusion and Planning: A Computational Approach

✍ Scribed by Gregory D. Hager (auth.)

• Publisher: Springer US
• Year: 1990
• Tongue: English
• Leaves: 261
• Series: The Kluwer International Series in Engineering and Computer Science 99
• Edition: 1
• Category: Library

✦ Synopsis

If you have ever hiked up a steep hill to reach a viewpoint, you will know that sensing can involve the expenditure of effort. More generally, the choice of which movement an intelligent system chooses to make is usually based on information gleaned from sensors. But the information required to make the motion decision may not be immediately to hand, so the system . first has to plan a motion whose purpose is to acquire the needed sensor information. Again, this conforms to our everyday experience: I am in the woods and don't know which direction to go, so I climb up to the ridge to get my bearings; I am lost in a new town, so I plan to drive to the next junction where there is sure to be a roadsign, failing that I will ask someone who seems to be from the locality. Why, if experiences such as these are so familiar, has the problem only recently been recognised and studied in Robotics? One reason is that until quite recently Robotics research was dominated by work on robot arms with limited reach and fixed in a workcell.

✦ Table of Contents

Front Matter....Pages i-xvii
Introduction....Pages 1-14
Modeling Sensors....Pages 15-52
Task Modeling and Decision Making....Pages 53-71
Mean-Square Estimation....Pages 73-105
Grid-Based Probability Density Methods....Pages 107-136
Choosing Viewpoints and Features....Pages 137-153
Towards a Task-Level Programming Environment....Pages 155-174
An Experimental System....Pages 175-198
Future Extensions....Pages 199-210
Back Matter....Pages 211-254

✦ Subjects

Control, Robotics, Mechatronics;Computer Imaging, Vision, Pattern Recognition and Graphics;Artificial Intelligence (incl. Robotics)