Sorting Parts with a Simple Sensor

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Presentation transcript:

Sorting Parts with a Simple Sensor “Active Sensing: Shape from Diameter”

______________________________________ Related Work Convex Geometry: (Yaglom, ‘61) Geometric Probing: (Skiena ‘88; Canny ‘92) Interpretation Trees: (Gaston, TLP, Grimson ‘84; Ellis ‘87) Game with Nature: (Taylor, Mason, Goldberg ‘87) The Bad News!!! Some Parts Cannot be Distinguished by Grasping Deciding if a Minimal Polygon Exists is NP - Complete

Polygons with Identical Diameter Function

The Good News (Rao and Goldberg 1994) Given a Set of Distinguishable Part Shapes: Random Grasping with Bayesian Estimator Clever Grasping Strategies - Planning Suboptimal Strategy: O (n2 log n) - Planning Optimal Strategy: O (n4 2n)