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Grasping Familiar Objects using Shape Context
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: ICAR: 2009 14th International Conference on Advanced Robotics, IEEE , 2009, 50-55 p.Conference paper, Published paper (Refereed)
Abstract [en]

We present work on vision based robotic grasping. The proposed method relies on extracting and representing the global contour of an object in a monocular image. A suitable grasp is then generated using a learning framework where prototypical grasping points are learned from several examples and then used on novel objects. For representation purposes, we apply the concept of shape context and for learning we use a supervised learning approach in which the classifier is trained with labeled synthetic images. Our results show that a combination of a descriptor based on shape context with a non-linear classification algorithm leads to a stable detection of grasping points for a variety of objects. Furthermore, we will show how our representation supports the inference of a full grasp configuration.

Place, publisher, year, edition, pages
IEEE , 2009. 50-55 p.
Keyword [en]
Descriptors, Learning frameworks, Monocular image, Nonlinear classification, Robotic grasping, Shape contexts, Synthetic images, Vision based, Image processing, Robots
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:kth:diva-30418ISI: 000270815500009Scopus ID: 2-s2.0-70449375329ISBN: 978-1-4244-4855-5 (print)OAI: oai:DiVA.org:kth-30418DiVA: diva2:400826
Conference
14th International Conference on Advanced Robotics, Munich, Germany, June 22-26, 2009
Note

QC 20110228

Available from: 2011-02-28 Created: 2011-02-24 Last updated: 2018-01-12Bibliographically approved

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Kragic, Danica

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • 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