Method and system for registering an object with a probe using entropy-based motion selection and Rao-Blackwellized particle filtering
US8510078B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 15, 2011 |
| Grant date | Aug 13, 2013 |
| Priority date | — |
| Expiry date | Mar 18, 2032 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1694
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A probe is registered with an object by probing the object with the probe at multiple poses, wherein each pose of the probe includes a location and an orientation. A probability distribution of a current location of the probe is represented by a set of particles, and a probability distribution of a current orientation of the probe is represented by a Gaussian distribution for each particle conditioned on the current location. A set of candidate motions is chosen, and for each candidate motion, an expected uncertainty based on the set of particles is determined. The candidate motion with a least expected uncertainty is selected as a next motion of the probe, the probe is moved according to the next motion, and the set of particles is updated using the next pose of the probe.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.