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3-D vision for navigation and grasping
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-2965-2953
University of Pennsylvania, Department of Computer and Information Science, 3330 Walnut Street, Philadelphia, PA 19104, United States.
2016 (English)In: Springer Handbook of Robotics, Springer International Publishing , 2016, p. 811-824Chapter in book (Other academic)
Abstract [en]

In this chapter, we describe algorithms for three-dimensional (3-D) vision that help robots accomplish navigation and grasping. To model cameras, we start with the basics of perspective projection and distortion due to lenses. This projection from a 3-D world to a two-dimensional (2-D) image can be inverted only by using information from the world or multiple 2-D views. If we know the 3-D model of an object or the location of 3-D landmarks, we can solve the pose estimation problem from one view. When two views are available, we can compute the 3-D motion and triangulate to reconstruct the world up to a scale factor. When multiple views are given either as sparse viewpoints or a continuous incoming video, then the robot path can be computer and point tracks can yield a sparse 3-D representation of the world. In order to grasp objects, we can estimate 3-D pose of the end effector or 3-D coordinates of the graspable points on the object.

Place, publisher, year, edition, pages
Springer International Publishing , 2016. p. 811-824
Series
Springer Handbooks, ISSN 2522-8692, E-ISSN 2522-8706
Keywords [en]
Bundle adjustment, Point cloud, Point correspondence, Projection matrice, World coordinate system
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-262440DOI: 10.1007/978-3-319-32552-1_32Scopus ID: 2-s2.0-85069221556ISBN: 9783319325521 (print)ISBN: 9783319325507 (print)OAI: oai:DiVA.org:kth-262440DiVA, id: diva2:1365275
Note

QC 20191024

Available from: 2019-10-24 Created: 2019-10-24 Last updated: 2019-10-24Bibliographically approved

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Kragic, Danica

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf