Information management for gaze control in vision guided biped walking
Information management for gaze control in vision guided biped walking
复制标题
视觉引导双足步行中注视控制的信息管理
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
G. Schmidt
中科院分区：
文献类型：
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作者：
J. Seara;Klaus H. Strobl;G. Schmidt
本文论述了在视觉引导的仿人步行的背景下，主动注视控制的信息管理。提出的生物启发预测凝视控制策略是基于视觉信息的最大化。信息的量化需要机器人和感知系统的随机模型。信息/不确定性管理，即系统，状态估计和主动测量之间的关系，采用耦合（考虑互协方差）混合（反映非连续行走的不连续性）扩展（处理非线性系统）卡尔曼滤波方法。
This article deals with the information management for active gaze control in the context of vision-guided humanoid walking. The proposed biologically inspired predictive gaze control strategy is based on the maximization of visual information. The quantification of the information requires a stochastic model of both, the robot and perception system. The information/uncertainty management, i.e. relationships between the system, state estimation and the active measurements, employs a coupled (considering cross-covariances) hybrid (reflecting the discontinuous character of biped walking) extended (copes with nonlinear systems) Kalman filter approach.