Division of Informatics
Forrest Hill & 80 South Bridge
Research Paper #616 | |
|---|---|
| Title: | Active Inspection Using Visibility, Sensor and Task Knowledge |
| Authors: | Trucco,E; Umasuthan,M; Wallace,A |
| Date: | Feb 1993 |
| Presented: | Submitted to IEEE Transactions on Robotics & Automation |
| Keywords: | |
| Abstract: | We report some results of a project to compute visibility scripts for active inspection applications, in which a robot-mounted sensor observes a known object from different viewpoints. Visibility scripts describe the optimal sensor position for a given inspection task. A feature visibility representation (the FIR) is introduced, which can accommodate workspace, visibility and sensor constraints. The FIR specifies also task-dependent knowledge about generalized sensor adopted (the imaging device and the feature detection or measurement system) and reliability expectations based on sensor performance tests. The performance of a prototype in simulated and real inspection tasks is demonstrated and discussed. |
| Download: | NO ONLINE COPY |
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