While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and shape completion methods to manipulate an object with a mobile robot. Our system utilizes uncertainty in the initial estimation of a manipulation target to calculate a predicted next-best-view. Without the need of localization, the robot then uses the predicted panoramic view at the next-best-view location to navigate to the desired location, capture a second view of the object, create a new model that predicts the shape of object more accurately than a single image alone, and uses this model for grasp planning. We show that the system is highly effective for mobile manipulation tasks through simulation experiments using real world data, as well as ablations on each component of our system.

翻译：虽然导航和操控是孤立地具有挑战性的主题,但许多任务都需要同时进行导航和操控的能力。 为此,我们提议建立一个移动操纵系统,利用新的导航和形状完成方法来用移动机器人操纵物体。我们的系统在最初估计操纵目标时使用不确定性来计算预测的下一个最佳视图。不需要定位,机器人然后在下一个最佳视野地点使用预测的全景,以导航到理想位置,捕捉对物体的第二个视图,创建一个新的模型,预测物体的形状比单一图像更准确,并使用这个模型来进行掌握规划。我们显示,通过模拟实验,利用真实的世界数据以及我们系统每个组成部分的图样,这个系统对移动操纵任务非常有效。