Grasping Unknown Objects using an Early Cognitive Vision System for General Scene UnderstandingShow others and affiliations
2011 (English)In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2011, p. 987-994Conference paper, Published paper (Refereed)
Abstract [en]
Grasping unknown objects based on real-world visual input is a challenging problem. In this paper, we present an Early Cognitive Vision system that builds a hierarchical representation based on edge and texture information, which is a sparse but powerful description of the scene. Based on this representation we generate edge-based and surface-based grasps. The results show that the method generates successful grasps, that the edge and surface information are complementary, and that the method can deal with more complex scenes. We furthermore present a benchmark for visual-based grasping.
Place, publisher, year, edition, pages
IEEE , 2011. p. 987-994
Keywords [en]
vision-based grasping, scene understanding
National Category
Robotics and automation
Identifiers
URN: urn:nbn:se:kth:diva-47182DOI: 10.1109/IROS.2011.6048619ISI: 000297477501052Scopus ID: 2-s2.0-84455162003ISBN: 978-1-61284-454-1 (print)OAI: oai:DiVA.org:kth-47182DiVA, id: diva2:454501
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems
Projects
EU project eSMCs (IST-FP7-IP-270212)SSF RoSy
Funder
EU, FP7, Seventh Framework Programme, IST-FP7-IP-270212Swedish Research Council
Note
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2011-11-102011-11-072025-02-09Bibliographically approved