Enfoque general y sistemático para percepción activa semántica en robótica
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En este artículo, abordamos el problema de la percepción activa de información semántica, centrado en determinar las acciones que un robot móvil debe realizar para obtener información semántica de calidad del entorno. Con el auge de los algoritmos de percepción semántica, surgen nuevas oportunidades para los sistemas de planificación robóticos. Sin embargo, para aprovechar estas oportunidades, es crucial identificar los elementos esenciales que cualquier sistema de control orientado a la percepción debe tener. Para ello, proponemos una arquitectura general aplicable a cualquier sistema de percepción activa y analizamos las diferencias fundamentales que surgen al considerar información semántica en su diseño. Además, describimos una implementación preliminar de la arquitectura propuesta. Nuestro objetivo principal es proporcionar a los investigadores una formulación general y un sistema unificado y modular que facilite el avance en el campo de la percepción activa semántica.
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