ロボットは検査のためレーザースキャナをどう設定すべきか？
How Should a Robot Configure Its Laser Scanner for Inspection?
検査ロボットのセンサ設定を指示に基づく離散的な行動選択として捉え、超次元連想記憶を用いて安定した設定を選ぶSenseHDを提案し、実機で信頼性を向上させた。
著者: Zhiling Chen, David Gorsich, Matthew P. Castanier, Yang Zhang, Jiong Tang, Farhad Imani
分類: cs.RO, cs.CV
原文アブストラクト
Robotic inspection relies on accurate sensing to acquire high-fidelity geometric measurements for defect detection and metrology. While prior work has focused on robot motion and viewpoint planning, how to configure sensing parameters remains largely underexplored, despite their decisive impact on measurement quality. We propose SenseHD, a robotic sensing system that formulates scanner configuration as an instruction-conditioned sensing decision. Instead of predicting precise parameter values, SenseHD treats sensing parameters as discrete sensing actions and selects stable sensing regimes through hyperdimensional associative memory. Experiments on a real robotic inspection platform demonstrate that SenseHD robustly selects appropriate sensing configurations and significantly improves inspection reliability, while remaining lightweight and efficient compared to baseline methods.