Overcoming unknown occlusions in eye-in-hand visual search

Sina Radmard, David Meger, Elizabeth A. Croft, James J. Little

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

3 Citations (Scopus)

Abstract

We propose a method for handling persistent visual occlusions that disrupt visual tracking for eye-in-hand systems. Our approach allows a robot to 'look behind' an occluder and re-acquire its target. To allow efficient planning, we avoid exhaustive mapping of the 3D occluder into configuration space, and instead use informed samples to strike a balance between target search and information gain. A particle filter continuously estimates the target location when it is not visible. Meanwhile, we build a simple but effective map of the occluder's extents to compute potential occlusion-clearing motions using very few calls to efficient approximations of inverse kinematics. Our mixed-initiative cost function balances the goal of directly locating the target with the goal of gaining information through mapping the occluder. Monte-Carlo optimization with efficient data-driven proposals allows us to approximate one-step solutions efficiently. Experimental evaluation performed on a realistic simulator shows that our method can quickly obtain clear views of the target, even when occlusions are persistent and significant camera motion is required.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages3075-3082
Number of pages8
ISBN (Print)9781467356411
DOIs
Publication statusPublished - 14 Nov 2013
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2013 - Karlsruhe, Germany
Duration: 6 May 201310 May 2013
https://ieeexplore.ieee.org/xpl/conhome/6615630/proceeding (Proceedings)

Conference

ConferenceIEEE International Conference on Robotics and Automation 2013
Abbreviated titleICRA 2013
CountryGermany
CityKarlsruhe
Period6/05/1310/05/13
Internet address

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