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Learning and adaptation of sensory perception models in robotic systems

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2 Author(s)
T. Celinski ; Dept. of Eng., Australian Nat. Univ., Canberra, ACT, Australia ; B. McCarragher

Models of perception are an important element in the control of sensory perception in autonomous systems. The performance of a perception controller will depend on how well the models reflect the time-varying performance characteristics of sensors and data processing algorithms. A novel approach to achieving high quality models through real-time adaptation is presented. Models reflecting observation uncertainty are adapted in accordance with online sensor performance using a radial basis function approach modified to allow real-time operation

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

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