智能机器人中优化工作对象位置测量的传感规划

M. Sallinen, T. Heikkilä
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引用次数: 0

摘要

本文提出了一种在已知目标物体几何表示的情况下规划感知特征的方法。该方法是一种综合形式,可用于机器人领域的多种测量应用。当测量数据稀疏、包含大量噪声或时间要求较紧时,传感规划是一个重要的问题。选择测量位置和方向的标准是待估计参数的后验误差协方差矩阵。通过工作对象定位的仿真试验验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Sensing planning to optimize work object location measurements in intelligent robotics
This paper presents a method for planning the sensing features when the geometrical representation of the target object is known. The presented method is a synthesis -form and can be used in several measurement applications in robotics. Sensing planning is an important issue when the measurement data is sparse, includes a lot of noise or there are tight time-requirements. The criteria for selecting the measurement locations and orientations is a posteriori error covariance matrix of the parameters to be estimated. The presented approach is verified by simulation tests in the case of work object location.
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