Configuration of Perception Systems via Planning Over Factor Graphs
Vincent Dietrich, Bernd Kast, Philipp Schmitt, Sebastian Albrecht, Michael Fiegert, Wendelin Feiten, Michael Beetz
Abstract
Sensor guided, automated systems require the composition of various sensors and data processing algorithms to obtain relevant information for performing their task. Many applications have additional requirements such as a certain accuracy, which has to be achieved despite sensor noise and calibration errors. In this paper we model the configuration of perception systems as a planning problem over probabilistic graphical models. We work on a subset of the full configuration space of perceptions systems, specifically the used sensors, data processing algorithms and view poses. Based on a semantic description of the goal, available sensors and data processing algorithms, our system plans perception steps and sensor data fusion autonomously. The planner operates by constructing a factor graph until the accuracy requirements of tasks are fulfilled or unobtainable with the available action set. We validate our approach in an industrial assembly scenario.
BibTeX
@inproceedings{icra2018_configurationofp,
title = {Configuration of Perception Systems via Planning Over Factor Graphs},
author = {Vincent Dietrich and Bernd Kast and Philipp Schmitt and Sebastian Albrecht and Michael Fiegert and Wendelin Feiten and Michael Beetz},
booktitle = {ICRA 2018},
year = {2018}
}