{"refrec":{"BRefID":294940,"RR":"<b>Petrovskaya, A.; Hsiao, K.</b> (2016). Active manipulation for perception, <b><i>in</i></b>: Siciliano, B. <i>et al.</i> <i>Springer handbook of robotics.</i> pp. 1037-1062. <a href=\"https://dx.doi.org/10.1007/978-3-319-32552-1_41\" target=\"_blank\">https://dx.doi.org/10.1007/978-3-319-32552-1_41</a>","BEntID":287011,"PublicFlag":1,"CheckedFlag":0,"wosflag":null,"vabbflag":null,"RefStringPartII":", <b><i>in</i></b>: Siciliano, B. <i>et al.</i> <i>Springer handbook of robotics.</i> pp. 1037-1062. <a href=\"https://dx.doi.org/10.1007/978-3-319-32552-1_41\" target=\"_blank\">https://dx.doi.org/10.1007/978-3-319-32552-1_41</a>","DocTypID":17,"DocType":"Book chapters","MarineFlag":0,"FreshFlag":0,"BrackishFlag":0,"TerrestrialFlag":0,"Authorstring":"Petrovskaya, A.; Hsiao, K.","OrigTitleTranslFlag":0,"Authorstringtrunc":"Petrovskaya, A.; Hsiao, K.","Englishabstract":"This chapter covers perceptual methods in which manipulation is an integral part of perception. These methods face special challenges due to data sparsity and high costs of sensing actions. However, they can also succeed where other perceptual methods fail, for example, in poor-visibility conditions or for learning the physical properties of a scene. The chapter focuses on specialized methods that have been developed for object localization, inference, planning, recognition, and modeling in active manipulation approaches. 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