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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

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