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Integration of Visual Cues for Robotic Grasping
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2009 (English)In: COMPUTER VISION SYSTEMS, PROCEEDINGS / [ed] Fritz M, Schiele B, Piater JH, Berlin: Springer-Verlag Berlin , 2009, Vol. 5815, 245-254 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
Berlin: Springer-Verlag Berlin , 2009. Vol. 5815, 245-254 p.
Series
Lecture Notes in Computer Science, ISSN 0302-9743 ; 5815
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-30223DOI: 10.1007/978-3-642-04667-4_25ISI: 000274012700025Scopus ID: 2-s2.0-71549168321ISBN: 978-3-642-04666-7 (print)OAI: oai:DiVA.org:kth-30223DiVA: diva2:399047
Conference
7th International Conference on Computer Vision Systems Liege, BELGIUM, OCT 13-15, 2009
Note
QC 20110221Available from: 2011-02-21 Created: 2011-02-21 Last updated: 2012-01-28Bibliographically approved

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Kragic, Danica

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