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Mind the Gap - Robotic Grasping under Incomplete Observation
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.
Universitat Jaume I, Castellon, Spain. (Robotic Intelligence Laboratory)
Universitat Jaume I, Castellon, Spain. (Robotic Intelligence Laboratory)
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2011 (English)In: 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 9-13, 2011, New York: IEEE , 2011, 686-693 p.Conference paper, Published paper (Refereed)
Abstract [en]

We consider the problem of grasp and manipulation planning when the state of the world is only partially observable. Specifically, we address the task of picking up unknown objects from a table top. The proposed approach to object shape prediction aims at closing the knowledge gaps in the robot's understanding of the world. A completed state estimate of the environment can then be provided to a simulator in which stable grasps and collision-free movements are planned. The proposed approach is based on the observation that many objects commonly in use in a service robotic scenario possess symmetries. We search for the optimal parameters of these symmetries given visibility constraints. Once found, the point cloud is completed and a surface mesh reconstructed. Quantitative experiments show that the predictions are valid approximations of the real object shape. By demonstrating the approach on two very different robotic platforms its generality is emphasized.

Place, publisher, year, edition, pages
New York: IEEE , 2011. 686-693 p.
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
Keyword [en]
Robotics, Grasp Planning, Computer Vision
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-38600DOI: 10.1109/ICRA.2011.5980354ISI: 000295396600108Scopus ID: 2-s2.0-84864481762ISBN: 978-1-61284-386-5 (print)OAI: oai:DiVA.org:kth-38600DiVA: diva2:437502
Conference
IEEE International Conference on Robotics and Automation (ICRA) Location: Shanghai, PEOPLES R CHINA Date: MAY 09-13, 2011
Projects
GRASP
Funder
EU, FP7, Seventh Framework Programme, IST-FP7- IP-215821ICT - The Next Generation
Note
QC 20111212Available from: 2011-09-07 Created: 2011-08-29 Last updated: 2011-12-12Bibliographically approved

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Kragic, Danica

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