Active perception and scene modeling by planning with probabilistic 6D object poses

  title={Active perception and scene modeling by planning with probabilistic 6D object poses},
  author={Robert Eidenberger and Josef Scharinger},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper presents an approach to probabilistic active perception planning for scene modeling in cluttered and realistic environments. When dealing with complex, multi-object scenes with arbitrary object positions, the estimation of 6D poses including their expected uncertainties is essential. The scene model keeps track of the probabilistic object hypotheses over several sequencing sensing actions to represent the real object constellation. 
Highly Cited
This paper has 60 citations. REVIEW CITATIONS

From This Paper

Figures and tables from this paper.
39 Citations
15 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 39 extracted citations

60 Citations

Citations per Year
Semantic Scholar estimates that this publication has 60 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 15 references

On Perception Planning for Active Robot Vision

  • S. Chen
  • IEEE SMC Society eNewsletter, vol. 13, December…
  • 2005
1 Excerpt

Similar Papers

Loading similar papers…