Efficient Object Search Through Probability-Based Viewpoint Selection
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00344509" target="_blank" >RIV/68407700:21230/20:00344509 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/20:00344509
Result on the web
<a href="https://doi.org/10.1109/IROS45743.2020.9340989" target="_blank" >https://doi.org/10.1109/IROS45743.2020.9340989</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS45743.2020.9340989" target="_blank" >10.1109/IROS45743.2020.9340989</a>
Alternative languages
Result language
angličtina
Original language name
Efficient Object Search Through Probability-Based Viewpoint Selection
Original language description
The ability to search for objects is a precondition for various robotic tasks. In this paper, we address the problem of finding objects in partially known indoor environments. Using the knowledge of the floor plan and the mapped objects, we consider object–object and object–room co-occurrences as prior information for identifying promising locations where an unmapped object can be present. We propose an efficient search strategy that determines the best pose of the robot based on the analysis of the candidate locations. We optimize the probability of finding the target object and the distance travelled through a cost function. To evaluate our method, several experiments in simulated and real-world environments were performed. The results show that the robot successfully finds the target object in the environment while covering only a small portion of the search space. The real-world experiments with the TurtleBot 2 mobile robot validate the proposed approach and demonstrate that the method performs well also in real environments.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
ISBN
978-1-7281-6212-6
ISSN
2153-0858
e-ISSN
2153-0866
Number of pages
8
Pages from-to
6172-6179
Publisher name
IEEE Robotics and Automation Society
Place of publication
Piscataway
Event location
Las Vegas
Event date
Oct 25, 2020
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000714033803117