Next Article in Journal
Simultaneous Achievement of Low Loss, Large Effective Mode Area and Wide Transmission Band Hollow-Core Anti-Resonant Optical Fibers
Previous Article in Journal
ATDMNet: Multi-Head Agent Attention and Top-k Dynamic Mask for Camouflaged Object Detection
Previous Article in Special Issue
MST-G: Micro Suction Tape Gripper Climbing Robot with Active Detachment Capability
 
 
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Optimal Viewpoint Assistance for Cooperative Manipulation Using D-Optimality

Department of Mechatronics Engineering, Graduate School of Science and Technology, Meijo University, 501-1 Shiogamaguchi, Nagoya 468-8502, Japan
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Sensors 2025, 25(10), 3002; https://doi.org/10.3390/s25103002
Submission received: 12 April 2025 / Revised: 30 April 2025 / Accepted: 7 May 2025 / Published: 9 May 2025

Abstract

This study proposes a D-optimality-based viewpoint selection method to improve visual assistance for a manipulator by optimizing camera placement. The approach maximizes the information gained from visual observations, reducing uncertainty in object recognition and localization. A mathematical framework utilizing D-optimality criteria is developed to determine the most informative camera viewpoint in real time. The proposed method is integrated into a robotic system where a mobile robot adjusts its viewpoint to support the manipulator in grasping and placing tasks. Experimental evaluations demonstrate that D-optimality-based viewpoint selection improves recognition accuracy and task efficiency. The results suggest that optimal viewpoint planning can enhance perception robustness, leading to better manipulation performance. Although tested in structured environments, the approach has the potential to be extended to dynamic or unstructured settings. This research contributes to the integration of viewpoint optimization in vision-based robotic cooperation, with promising applications in industrial automation, service robotics, and human–robot collaboration.
Keywords: cooperative system; optimal viewpoint; mobile manipulator; D-optimality; Fisher information; Next-Best-View; robotic grasping cooperative system; optimal viewpoint; mobile manipulator; D-optimality; Fisher information; Next-Best-View; robotic grasping
Graphical Abstract

Share and Cite

MDPI and ACS Style

Kameyama, K.; Horie, K.; Sekiyama, K. Optimal Viewpoint Assistance for Cooperative Manipulation Using D-Optimality. Sensors 2025, 25, 3002. https://doi.org/10.3390/s25103002

AMA Style

Kameyama K, Horie K, Sekiyama K. Optimal Viewpoint Assistance for Cooperative Manipulation Using D-Optimality. Sensors. 2025; 25(10):3002. https://doi.org/10.3390/s25103002

Chicago/Turabian Style

Kameyama, Kyosuke, Kazuki Horie, and Kosuke Sekiyama. 2025. "Optimal Viewpoint Assistance for Cooperative Manipulation Using D-Optimality" Sensors 25, no. 10: 3002. https://doi.org/10.3390/s25103002

APA Style

Kameyama, K., Horie, K., & Sekiyama, K. (2025). Optimal Viewpoint Assistance for Cooperative Manipulation Using D-Optimality. Sensors, 25(10), 3002. https://doi.org/10.3390/s25103002

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop