What is it about?
Usually artificial perception is considered a passive process of extracting information from a sensor signal. However, in robotics, the agent can interact to create and reveal its own information. Sometimes, this information first revealed through interaction is important for the success of the interaction itself, which requires an online perception loop. We present in this paper a framework to exploit interactions in online perception loops and its application to perceive kinematics and dynamics of articulated objects (doors, drawers,...) from multiple sensor modalities such as vision and haptics.
Photo by Franck V. on Unsplash
Why is it important?
We show that is possible to integrate interactions into perceptual systems by creating interconnected recursive subprocesses that communicate information. In realistic robot tasks, where the robot has to explore and react to the perceived information, such an online perceptual system enables manipulation with unknown objects.
Read the Original
This page is a summary of: Coupled recursive estimation for online interactive perception of articulated objects, The International Journal of Robotics Research, May 2019, SAGE Publications, DOI: 10.1177/0278364919848850.
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