Vision for robotic object manipulation in domestic settings
2005 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 0921-8830, Vol. 52, no 1, 85-100 p.Article in journal (Refereed) Published
In this paper, we present a vision system for robotic object manipulation tasks in natural, domestic environments. Given complex fetch-and-carry robot tasks, the issues related to the whole detect-approach-grasp loop are considered. Our vision system integrates a number of algorithms using monocular and binocular cues to achieve robustness in realistic settings. The cues are considered and used in connection to both foveal and peripheral vision to provide depth information, segmentation of the object(s) of interest, object recognition, tracking and pose estimation. One important property of the system is that the step from object recognition to pose estimation is completely automatic combining both appearance and geometric models. Experimental evaluation is performed in a realistic indoor environment with occlusions, clutter, changing lighting and background conditions.
Place, publisher, year, edition, pages
2005. Vol. 52, no 1, 85-100 p.
cognitive systems, object recognition, service robots, object manipulation, image, scene, model
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-14915DOI: 10.1016/j.robot.2005.03.011ISI: 000230575200007ScopusID: 2-s2.0-20744439814OAI: oai:DiVA.org:kth-14915DiVA: diva2:332956
QC 20100525 QC 201110112010-08-052010-08-052012-01-23Bibliographically approved