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"Robot, bring me something to drink from": object representation for transferring task specific grasps
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0003-2965-2953
2013 (engelsk)Inngår i: In IEEE International Conference on Robotics and Automation (ICRA 2012), Workshop on Semantic Perception, Mapping and Exploration (SPME),  St. Paul, MN, USA, May 13, 2012, 2013Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper, we present an approach for taskspecificobject representation which facilitates transfer of graspknowledge from a known object to a novel one. Our representation encompasses: (a) several visual object properties,(b) object functionality and (c) task constrains in order to provide a suitable goal-directed grasp. We compare various features describing complementary object attributes to evaluate the balance between the discrimination and generalization properties of the representation. The experimental setup is a scene containing multiple objects. Individual object hypotheses are first detected, categorized and then used as the input to a grasp reasoning system that encodes the task information. Our approach not only allows to find objects in a real world scene that afford a desired task, but also to generate and successfully transfer task-based grasp within and across object categories.

sted, utgiver, år, opplag, sider
2013.
Emneord [en]
computer vision, robotics, object recognition, grasping
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-136376OAI: oai:DiVA.org:kth-136376DiVA, id: diva2:675934
Konferanse
IEEE International Conference on Robotics and Automation (ICRA 2012), Workshop on Semantic Perception, Mapping and Exploration (SPME)
Forskningsfinansiär
EU, FP7, Seventh Framework Programme, IST-FP7-IP-215821Swedish Foundation for Strategic Research
Merknad

QC 20140317

Tilgjengelig fra: 2013-12-04 Laget: 2013-12-04 Sist oppdatert: 2018-01-11bibliografisk kontrollert

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Kragic, Danica

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Madry, MariannaSong, DanEk, Carl HenrikKragic, Danica
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Totalt: 126 treff
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