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Active manipulation for perception
Petrovskaya, A.; Hsiao, K. (2016). Active manipulation for perception, in: Siciliano, B. et al. Springer handbook of robotics. pp. 1037-1062. https://dx.doi.org/10.1007/978-3-319-32552-1_41
In: Siciliano, B.; Khatib, O. (Ed.) (2016). Springer handbook of robotics. Second edition. Springer Verlag: Berlin. ISBN 978-3-319-32550-7; e-ISBN 978-3-319-32552-1. LXXVI, 2227 pp. https://dx.doi.org/10.1007/978-3-319-32552-1, meer
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  • Petrovskaya, A.
  • Hsiao, K.
Abstract
    This chapter covers perceptual methods in which manipulation is an integral part of perception. These methods face special challenges due to data sparsity and high costs of sensing actions. However, they can also succeed where other perceptual methods fail, for example, in poor-visibility conditions or for learning the physical properties of a scene. The chapter focuses on specialized methods that have been developed for object localization, inference, planning, recognition, and modeling in active manipulation approaches. We conclude with a discussion of real-life applications and directions for future research.
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