论文标题
部分可观测时空混沌系统的无模型预测
One Object at a Time: Accurate and Robust Structure From Motion for Robots
论文作者
论文摘要
凝视的机器人可以立即，准确，稳健地感知到固定物体的距离和周围物体的相对位置。我们展示了固定是如何在移动时查看一个对象的行为，利用了3D空间几何形状的规律性来获取此信息。这些规律性引入了旋转 - 翻译耦合，这些耦合并未通过运动中的结构中使用。为了验证，我们使用带有RGB相机的Franka Emika机器人。我们a）发现，距离估计值的误差小于5 mm，距离为15 cm，b）显示如何使用相对位置在具有挑战性的情况下找到障碍。我们将准确的距离估计值和障碍信息结合到一个反应性的机器人行为中，该行为能够拾取未知大小的对象，同时受到不可预见的障碍的阻碍。项目页面：https：//oxidification.com/p/oone-object-at-apime/。
A gaze-fixating robot perceives distance to the fixated object and relative positions of surrounding objects immediately, accurately, and robustly. We show how fixation, which is the act of looking at one object while moving, exploits regularities in the geometry of 3D space to obtain this information. These regularities introduce rotation-translation couplings that are not commonly used in structure from motion. To validate, we use a Franka Emika Robot with an RGB camera. We a) find that error in distance estimate is less than 5 mm at a distance of 15 cm, and b) show how relative position can be used to find obstacles under challenging scenarios. We combine accurate distance estimates and obstacle information into a reactive robot behavior that is able to pick up objects of unknown size, while impeded by unforeseen obstacles. Project page: https://oxidification.com/p/one-object-at-a-time/ .
