Entropy-based Active Vision for a Humanoid Soccer Robot

Andreas Seekircher, Tim Laue, Thomas Röfer

In: Javier Ruiz-del-Solar , Eric Chown , Paul G. Ploeger (Hrsg.). RoboCup 2010: Robot Soccer World Cup XIV. RoboCup International Symposium (RoboCup-2010) June 19-25 Singapore Singapore Seiten 1-12 Lecture Notes in Artificial Intelligence (LNAI) 6556 Springer Heidelberg 2011.


In this paper, we show how the estimation of a robot's world model can be improved by actively sensing the environment through considering the current world state estimate through minimizing the entropy of an underlying particle distribution. Being originally computationally expensive, this approach is optimized to become executable in real-time on a robot with limited resources. We demonstrate the approach on a humanoid robot, performing self-localization and ball tracking on a RoboCup soccer field.

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Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence