Optimizing Gaze Direction in a Visual Navigation Task

02/16/2016
by   Tuomas Välimäki, et al.
0

Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to utilize the same vision system, and therefore a way to optimally control the direction of focus is needed. We present a case study, where we model the active sensing problem of directing the gaze of a mobile robot with three machine vision cameras as a partially observable Markov decision process (POMDP) using a mutual information (MI) based reward function. The key aspect of the solution is that the cameras are dynamically used either in monocular or stereo configuration. The benefits of using the proposed active sensing implementation are demonstrated with simulations and experiments on a real robot.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
03/31/2021

Simultaneous Navigation and Construction Benchmarking Environments

We need intelligent robots for mobile construction, the process of navig...
research
07/08/2021

Incorporating Gaze into Social Navigation

Most current approaches to social navigation focus on the trajectory and...
research
12/06/2021

Reinforcement Learning for Navigation of Mobile Robot with LiDAR

This paper presents a technique for navigation of mobile robot with Deep...
research
10/14/2022

Learning Active Camera for Multi-Object Navigation

Getting robots to navigate to multiple objects autonomously is essential...
research
08/24/2022

Active Gaze Control for Foveal Scene Exploration

Active perception and foveal vision are the foundations of the human vis...
research
10/10/2011

Steps Towards a Theory of Visual Information: Active Perception, Signal-to-Symbol Conversion and the Interplay Between Sensing and Control

This manuscript describes the elements of a theory of information tailor...
research
03/27/2013

Reducing Uncertainty in Navigation and Exploration

A significant problem in designing mobile robot control systems involves...

Please sign up or login with your details

Forgot password? Click here to reset