Grasping Unknown Objects using an Early Cognitive Vision System for General Scene Understanding
2011 (English)In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2011, 987-994 p.Conference paper (Refereed)
Grasping unknown objects based on real-world visual input is a challenging problem. In this paper, we present an Early Cognitive Vision system that builds a hierarchical representation based on edge and texture information, which is a sparse but powerful description of the scene. Based on this representation we generate edge-based and surface-based grasps. The results show that the method generates successful grasps, that the edge and surface information are complementary, and that the method can deal with more complex scenes. We furthermore present a benchmark for visual-based grasping.
Place, publisher, year, edition, pages
IEEE , 2011. 987-994 p.
vision-based grasping, scene understanding
IdentifiersURN: urn:nbn:se:kth:diva-47182DOI: 10.1109/IROS.2011.6048619ScopusID: 2-s2.0-84455162003ISBN: 978-1-61284-454-1OAI: oai:DiVA.org:kth-47182DiVA: diva2:454501
IEEE/RSJ International Conference on Intelligent Robots and Systems
ProjectsEU project eSMCs (IST-FP7-IP-270212)SSF RoSy
FunderEU, FP7, Seventh Framework Programme, IST-FP7-IP-270212Swedish Research Council
© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.2011-11-102011-11-072011-11-10Bibliographically approved