{"paper":{"title":"Active Detection and Localization of Textureless Objects in Cluttered Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Alberto Pretto, Marco Imperoli","submitted_at":"2016-03-22T22:55:03Z","abstract_excerpt":"This paper introduces an active object detection and localization framework that combines a robust untextured object detection and 3D pose estimation algorithm with a novel next-best-view selection strategy. We address the detection and localization problems by proposing an edge-based registration algorithm that refines the object position by minimizing a cost directly extracted from a 3D image tensor that encodes the minimum distance to an edge point in a joint direction/location space. We face the next-best-view problem by exploiting a sequential decision process that, for each step, selects"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1603.07022","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}