Active Vision via Extremum Seeking for Robots in Unstructured Environments: Applications in Object Recognition and Manipulation

IEEE Transactions on Automation Science and Engineering, pp. 1810-1822, 2018.

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Abstract:

In this paper, a novel active vision strategy is proposed for optimizing the viewpoint of a robot's vision sensor for a given success criterion. The strategy is based on extremum seeking control (ESC), which introduces two main advantages: 1) Our approach is model free: It does not require an explicit objective function or any other t...More

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