Abstract
Three issues pertinent to a coordinated use of multiple sensors in a robot workcell are described. First we discuss how range maps obtained from multiple viewpoints — these viewpoints may correspond to range sensors located at different locations — can be fused to generate a single combined representation of an object. We then take up the subject of how to reason over all the viewpoints and all the available sensors so that the best sensor and the best viewpoint are selected for the maximum disambiguation of all the currently held hypotheses about object identities and their poses. Finally, we discuss how we may use multiple sensors for robotic assembly, each sensor helping execute a portion of the overall task.
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© 1993 Springer-Verlag Berlin Heidelberg
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Kak, A.C., Hutchinson, S.A., Chen, C.H., Gottschlich, S.N., Smith, K.D. (1993). Coordinated Use of Multiple Sensors in a Robotic Workcell. In: Aggarwal, J.K. (eds) Multisensor Fusion for Computer Vision. NATO ASI Series, vol 99. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-02957-2_23
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DOI: https://doi.org/10.1007/978-3-662-02957-2_23
Publisher Name: Springer, Berlin, Heidelberg
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