Pose Estimation of a Container with Contact Sensing Based on Discrete State Discrimination
Abstract
:1. Introduction
- We propose a manifold particle filter to estimate the discrete state when the robot hand is positioned inside or outside the concave object.
- Improved estimation efficiency is achieved by selecting actions according to the estimated discrete states.
2. Problem Definition
2.1. Conditions
2.2. Object Property and Basic Strategy of Contact Motion
2.3. Notation
3. Estimation of Aperture Based on Discrete State Recognition
- Particle set with weight and discrete state .
- -
- Set of particles representing object pose:
- -
- Set of weights corresponding to particles:
- -
- Set of discrete states corresponding to particles:
- Non-existence region of object .
3.1. Particle Filter Update for Non-Contact Observation
Algorithm 1 Particle filter for non-contact information processing without state transition |
Input: Particle sets and and sensor observation (non-contact) Output: Particle sets , and 1: {, } 2: weighted by non-contact model 3: Resample |
3.2. Manifold Particle Filter (MPF) with Discrete State Discrimination
Algorithm 2 Manifold particle filter with discrete state discrimination |
Input: Particle sets , and and sensor observation (contact) Output: Particle sets , and 1: particle sampled from 2: weights calculated by EstimateDensity 3: Resample |
3.2.1. Methods for Updating the Estimated Distribution
3.2.2. Usage of Particle Output
3.3. Exploration Strategy Based on Discrete State
Algorithm 3 Exploration of hand with pose/discrete state estimation |
1: Initialization 2: Set initial particle sets , and based on initial estimation 3: Set initial hand target 4: while true do 5: Descend-hand() 6: if Collision then 7: Update-hand-target( ) 8: Update distribution by MPF 9: else 10: repeat 11: Contact-action( ) 12: Update distribution by MPF/PF 13: if then 14: Update-hand-target( ) 15: break 16: end if 17: until Estimation-convergence( ) 18: end if 19: Raise-hand( ) 20: end while |
4. Experiment
4.1. Condition
4.2. Preliminary Experiment for Building the Contact Model
4.3. Results
4.4. Discussion
5. Conclusions
Author Contributions
Funding
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
Abbreviations
PF | Particle Filter |
MPF | Manifold Particle Filter |
DSB | Discrete State-Based |
SD | Stay-Down |
LR | Lift-Random |
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DSB | |||||
Max | 13 | 91.6 | 17.1 | 12.0 | 55.4 |
Min | 5 | 39.6 | 0.9 | 0.5 | 0.7 |
Ave | 7.9 | 62.9 | 5.1 | 5.9 | 10.9 |
Var | 7.7 | 192.7 | 19.3 | 16.9 | 256.8 |
SD | |||||
Max | 19 | 117.1 | 16.0 | 14.7 | 49.4 |
Min | 5 | 37.3 | 1.6 | 0.4 | 1.8 |
Ave | 13.6 | 77.6 | 6.4 | 7.0 | 14.4 |
Var | 24.8 | 772.4 | 26.4 | 18.5 | 195.7 |
LR | |||||
Max | 21 | 227.1 | 13.3 | 9.8 | 40.5 |
Min | 5 | 58 | 1.0 | 1.7 | 0.7 |
Ave | 10.4 | 123.2 | 6.5 | 5.6 | 13.4 |
Var | 30.6 | 2783.0 | 17.8 | 5.4 | 129.7 |
DSB | |||||
Max | 14 | 116 | 24.4 | 26.1 | 31.6 |
Min | 6 | 55 | 0.3 | 1.7 | 5.6 |
Ave | 8.6 | 80.5 | 8.5 | 10.7 | 16.1 |
Var | 6.6 | 348.25 | 43.8 | 55.32 | 75.3 |
SD | |||||
Max | 27 | 133 | 20.1 | 25.6 | 51.5 |
Min | 9 | 65 | 0.9 | 0.6 | 0.4 |
Ave | 18.9 | 99.9 | 10.5 | 12.7 | 12.7 |
Var | 44.3 | 649.3 | 51.9 | 77.8 | 259.7 |
LR | |||||
Max | 21 | 307 | 16.7 | 25.6 | 28.4 |
Min | 5 | 75 | 1.26 | 1.5 | 1 |
Ave | 10.8 | 150.8 | 7.6 | 7.3 | 10.1 |
Var | 32.4 | 5552.2 | 25.2 | 49.3 | 73.6 |
DSB | |||||
Max | 23 | 183 | 21.8 | 37.9 | 140.7 |
Min | 7 | 68 | 1.1 | 0.7 | 4.4 |
Ave | 13.3 | 108.6 | 10.1 | 9.6 | 48.6 |
Var | 39.5 | 1387.8 | 46.9 | 100.3 | 2365.6 |
SD | |||||
Max | 35 | 183 | 38.3 | 23.3 | 113.2 |
Min | 9 | 60 | 1.2 | 0.9 | 3.1 |
Ave | 17.7 | 99.5 | 9.4 | 9.9 | 44.4 |
Var | 56 | 1191.7 | 128.7 | 53.6 | 1558.4 |
LR | |||||
Max | 29 | 434 | 25.5 | 15.8 | 109.6 |
Min | 6 | 97 | 1.6 | 0.3 | 0.5 |
Ave | 16.9 | 227.5 | 13.8 | 7.8 | 27.6 |
Var | 53.1 | 11121.3 | 41.5 | 16.5 | 1025.9 |
Experiment | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | Ave |
---|---|---|---|---|---|---|---|---|---|---|---|
Up/Down times | 6 | 4 | 2 | 1 | 3 | 3 | 4 | 7 | 7 | 7 | 4.4 |
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Kato, D.; Kobayashi, Y.; Takamori, D.; Miyazawa, N.; Hara, K.; Usui, D. Pose Estimation of a Container with Contact Sensing Based on Discrete State Discrimination. Robotics 2024, 13, 90. https://doi.org/10.3390/robotics13060090
Kato D, Kobayashi Y, Takamori D, Miyazawa N, Hara K, Usui D. Pose Estimation of a Container with Contact Sensing Based on Discrete State Discrimination. Robotics. 2024; 13(6):90. https://doi.org/10.3390/robotics13060090
Chicago/Turabian StyleKato, Daisuke, Yuichi Kobayashi, Daiki Takamori, Noritsugu Miyazawa, Kosuke Hara, and Dotaro Usui. 2024. "Pose Estimation of a Container with Contact Sensing Based on Discrete State Discrimination" Robotics 13, no. 6: 90. https://doi.org/10.3390/robotics13060090