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

@article{Eidenberger2010ActivePA,
  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},
  year={2010},
  pages={1036-1043}
}
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. 
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On Perception Planning for Active Robot Vision

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