A next-best-view algorithm for autonomous 3D object modeling by a humanoid robot

Torea Foissotte 1, 2 Olivier Stasse 2 Adrien Escande 2 Abderrahmane Kheddar 2, 1
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : We present our investigation to make humanoids build autonomously geometric models of unknown objects. Although good methods have been proposed for the specific problem of the next-best-view during the modeling and the recognition process; our approach is different and takes into account humanoid specificities in terms of embedded vision sensor and redundant motion capabilities. The problem to select the best next view of interest at each modeling step is formulated as an optimization problem where the whole robot posture needs to be defined jointly with the robot cameraspsila position and orientation. To achieve this, we propose a differentiable formula that expresses the amount of unknown data visible from a specific viewpoint, given only knowledge acquired in previous steps. In addition, a specific stability constraint is introduced to allow the robot to reach a configuration where its feet can be moved away from their initial position.
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Poster
Humanoids, Dec 2008, Daejeon, South Korea. 8th IEEE-RAS International Conference on Humanoid Robots, pp.333-338, 2008, 〈10.1109/ICHR.2008.4756001〉
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Torea Foissotte, Olivier Stasse, Adrien Escande, Abderrahmane Kheddar. A next-best-view algorithm for autonomous 3D object modeling by a humanoid robot. Humanoids, Dec 2008, Daejeon, South Korea. 8th IEEE-RAS International Conference on Humanoid Robots, pp.333-338, 2008, 〈10.1109/ICHR.2008.4756001〉. 〈lirmm-00798770〉

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