Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and occlusion in vision-based perception. In this work, we address such a problem with a setup involving both an active camera and an object manipulator. Our approach is based on a sequential decision-making framework and explicitly considers the motion regularity and structure in coupling the camera and manipulator. We contribute a method for constructing and computing a subspace, called Dynamic Active Vision Space (DAVS), for effectively utilizing the regularity in motion exploration. The effectiveness of the framework and approach are validated in both a simulation and a real dual-arm robot setup. Our results confirm the necessity of an active camera and coordinative motion in interactive perception for deformable objects.

翻译：交互式感知使机器人能够操控环境和物体，使其进入有利于感知过程的状态。可变形物体由于操作难度大且基于视觉的感知易受遮挡，给这一过程带来了挑战。在本研究中，我们通过同时设置主动相机和物体操作器的方案来解决该问题。我们的方法基于序贯决策框架，并明确考虑了相机与操作器耦合中的运动规律性和结构。我们提出了一种构建和计算子空间的方法，称为动态主动视觉空间（DAVS），以有效利用运动探索中的规律性。该框架和方法的有效性在仿真环境和真实双臂机器人平台上均得到了验证。研究结果证实，在可变形物体的交互式感知中，主动相机与协调运动具有必要性。