An iterative algorithm is presented for the sequential updating of a robot workspace with multiple objects. Three orthogonal views of the workspace are obtained, and an octree with uncertain nodes is constructed. Existing information in the octree is used to calculate the next-most-effective viewing direction such that the greatest number of uncertain nodes can be seen. This process iterates until all the uncertain nodes are identified or the number of uncertain nodes is small. Preliminary results from a simulation experiment are presented to demonstrate the concept of this algorithm.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||6|
|State||Published - 1987|
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