Integration of Visual Cues for Robotic Grasping
2009
Book Chapter
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In this paper, we propose a method that generates grasping actions for novel objects based on visual input from a stereo camera. We are integrating two methods that are advantageous either in predicting how to grasp an object or where to apply a grasp. The first one reconstructs a wire frame object model through curve matching. Elementary grasping actions can be associated to parts of this model. The second method predicts grasping points in a 2D contour image of an object. By integrating the information from the two approaches, we can generate a sparse set of full grasp configurations that are of a good quality. We demonstrate our approach integrated in a vision system for complex shaped objects as well as in cluttered scenes.
Author(s): | Bergström, Niklas and Bohg, Jeannette and Kragic, Danica |
Book Title: | Computer Vision Systems |
Volume: | 5815 |
Pages: | 245-254 |
Year: | 2009 |
Series: | Lecture Notes in Computer Science |
Publisher: | Springer Berlin Heidelberg |
Department(s): | Autonomous Motion |
Bibtex Type: | Book Chapter (incollection) |
Paper Type: | Conference |
DOI: | 10.1007/978-3-642-04667-4_25 |
Language: | English |
URL: | http://dx.doi.org/10.1007/978-3-642-04667-4_25 |
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BibTex @incollection{Niklas2009, title = {Integration of Visual Cues for Robotic Grasping}, author = {Bergstr{\"o}m, Niklas and Bohg, Jeannette and Kragic, Danica}, booktitle = {Computer Vision Systems}, volume = {5815}, pages = {245-254}, series = {Lecture Notes in Computer Science}, publisher = {Springer Berlin Heidelberg}, year = {2009}, doi = {10.1007/978-3-642-04667-4_25}, url = {http://dx.doi.org/10.1007/978-3-642-04667-4_25} } |