Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Web of Science (1)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Canny, J.
Right arrow Articles by Paulos, E.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Optimal Probing Strategies

John Canny

Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720jfc{at}cs.berkeley.edu

Eric Paulos

Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720paulos{at}cs.berkeley.edu

Probing is a common operation employed to reduce the position uncertainty of objects. This paper demonstrates a technique for constructing provably near-optimal probing strategies for precisely localizing polygonal parts. This problem is shown to be dual to the well-studied grasping problem of computing optimal finger placements as defined by B. Mishra and others. A useful quality metric of any given probing strategy can easily be computed from simple geometric constructions in the displacement space of the polygon. The approach will always find a minimal set of probes that is guaranteed to be near optimal for constraining the position of the polygon. The size of the resulting set of probes is within O(1) of the optimal number of probes and can be computed in O(n log2 n) time, whereas the exact optimal solution is in NP-hard. The result of this work is a probing strategy useful in practice for refining part poses.

Key Words: Pose refinement • probing • fine positioning • RISC robotics • optical sensing • flexible manufacturing

The International Journal of Robotics Research, Vol. 20, No. 8, 694-704 (2001)
DOI: 10.1177/02783640122067615
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?