Visual monitoring of an object manipulated by a multi-fingered hand has a problem of occlusions caused by the fingers. We propose a new planning method, based on a 3-dimensional CAD model of the environment, to focus attention in such a monitoring task. We formulate the planning to focus attention as a scheduling problem for the whole task period rather than for a specific time. We introduce a genetic algorithm to cope with combinatorial explosion of the image features considered during time-sequential aspects in the task. The genetic algorithm is a population-based search method which efficiently finds solutions in a large search space by simulating biological evolutionary processes. The algorithm consists of selection, crossover, and mutation procedures applied to a population of chromosomes. To solve the problem of planning a focus of attention by using the genetic algorithm, we employed a coding scheme for a chromosome to produce consistent offspring after the crossover. Experimental results show the usefulness of the proposed method by finding the pseudo optimal plan within a short computation time.<>


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    Title :

    Planning focus of attention for multi-fingered hand with consideration of time-varying aspects


    Contributors:
    Sakane, S. (author) / Kuruma, T. (author) / Omata, T. (author) / Sato, T. (author)


    Publication date :

    1994-01-01


    Size :

    711663 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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