| Publication type: |
Article in Proceedings |
| Author: |
Andreas Seekircher, Tim Laue, Thomas Röfer |
| Editor: |
Javier Ruiz-del-Solar, Eric Chown, Paul G. Plöger |
| Title: |
Entropy-based Active Vision for a Humanoid Soccer Robot |
| Book / Collection title: |
RoboCup 2010: Robot Soccer World Cup XIV |
| Volume: |
6556 |
| Page(s): |
1 – 12 |
| Series: |
Lecture Notes in Artificial Intelligence |
| Year published: |
2011 |
| Publisher: |
Springer, Heidelberg |
| Abstract: |
In this paper, we show how the estimation of a robot's world model can be improved by actively sensing the environment through considering the current world state estimate through minimizing the entropy of an underlying particle distribution. Being originally computationally expensive, this approach is optimized to become executable in real-time on a robot with limited resources. We demonstrate the approach on a humanoid robot, performing self-localization and ball tracking on a RoboCup soccer field. |
| PDF Version: |
http://www.informatik.uni-bremen.de/kogrob/papers/RC-Seekircher-etal-11.pdf |
| Note / Comment: |
Best Paper Award |
| Status: |
Reviewed |
| Last updated: |
06. 11. 2013 |
