Manipulation-based active search for occluded objects
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Lozano-Perez_Manipulation-based.pdf
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948.44 KB
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Author(s)
Lozano-Perez, Tomas
Wong, Lok Sang Lawson
Kaelbling, Leslie P.
Date Issued
May 2013
Journal
Proceedings of the 2013 IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Wong, Lawson L.S., Leslie Pack Kaelbling, and Tomas Lozano-Perez. “Manipulation-Based Active Search for Occluded Objects.” 2013 IEEE International Conference on Robotics and Automation (May 2013).
Version
Author's final manuscript
Abstract
Object search is an integral part of daily life, and in the quest for competent mobile manipulation robots it is an unavoidable problem. Previous approaches focus on cases where objects are in unknown rooms but lying out in the open, which transforms object search into active visual search. However, in real life, objects may be in the back of cupboards occluded by other objects, instead of conveniently on a table by themselves. Extending search to occluded objects requires a more precise model and tighter integration with manipulation. We present a novel generative model for representing container contents by using object co-occurrence information and spatial constraints. Given a target object, a planner uses the model to guide an agent to explore containers where the target is likely, potentially needing to move occluding objects to enable further perception. We demonstrate the model on simulated domains and a detailed simulation involving a PR2 robot.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2013.6630966
