Planning to Perceive: Exploiting Mobility for Robust Object Detection

  title={Planning to Perceive: Exploiting Mobility for Robust Object Detection},
  author={Javier V{\'e}lez and Garrett Hemann and Albert S. Huang and Ingmar Posner and Nicholas Roy},
Consider the task of a mobile robot autonomously navigating through an environment while detecting and mapping objects of interest using a noisy object detector. The robot must reach its destination in a timely manner, but is rewarded for correctly detecting recognizable objects to be added to the map, and penalized for false alarms. However, detector performance typically varies with vantage point, so the robot benefits from planning trajectories which maximize the efficacy of the recognition… CONTINUE READING
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