机器人如何设置激光扫描仪参数以提升检测可靠性
How Should a Robot Configure Its Laser Scanner for Inspection?
- 将扫描参数视为离散动作，通过超维记忆选择稳定配置
- 实测显示检测可靠性显著提升，且系统轻量高效
- 适合关注传感器配置的机器人检测研发人员
机器人检测依赖精准感知以获取高保真几何数据用于缺陷检测与计量。尽管以往研究聚焦于机器人运动与视角规划，但传感参数配置仍鲜受关注，而其对测量质量具有决定性影响。本文提出 SenseHD，一种将扫描配置建模为指令条件感知决策的机器人感知系统。SenseHD 不预测精确参数值，而是将传感参数视为离散感知动作，通过超维关联记忆选择稳定感知模式。在真实机器人检测平台上的实验表明，SenseHD 能稳健选择合适传感配置，显著提升检测可靠性，同时相比基线方法更轻量、高效。
原文摘要 · Abstract (English)
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.
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