TaCOS: Task-Specific Camera Optimization with Simulation

arXiv:2404.11031v1 Announce Type: new
Abstract: The performance of robots in their applications heavily depends on the quality of sensory input. However, designing sensor payloads and their parameters for specific robotic tasks is an expensive process that requires well-established sensor knowledge and extensive experiments with physical hardware. With cameras playing a pivotal role in robotic perception, we introduce a novel end-to-end optimization approach for co-designing a camera with specific robotic tasks by combining derivative-free and gradient-based optimizers. The proposed method leverages …

abstract applications arxiv cameras cs.cv cs.ro designing hardware however knowledge optimization parameters performance pivotal playing process quality robotic robots role sensor sensory simulation tasks type