[HSR] Active Perception ( Active Object Tracking)

When performing visual servoing or object tracking tasks with a mobile manipulator, active sensor planning is essential to keep targets in sight or to relocate them when missing or occluded from other objects. In particular, when dealing with a known target missing from the sensor's field of view, we propose using prior knowledge related to contextual information to estimate its possible location. We implement and demonstrate these capabilities on a mobile robot in real-time.