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Issues and Strategies for Robotic Object Manipulation in Domestic Settings
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.ORCID iD: 0000-0003-2965-2953
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.ORCID iD: 0000-0003-0579-3372
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
2004 (English)Conference paper, Published paper (Other academic)
Abstract [en]

Many robotic tasks such as autonomous navigation,human-machine collaboration, object manipulationand grasping facilitate visual information. Some of themajor reasearch and system design issues in terms of visualsystems are robustness and flexibility.In this paper, we present a number of visual strategiesfor robotic object manipulation tasks in natural, domesticenvironments. Given a complex fetch-and-carry type oftasks, the issues related to the whole detect-approachgrasploop are considered. Our vision system integratesa number of algorithms using monocular and binocularcues to achieve robustness in realistic settings. The cuesare considered and used in connection to both foveal andperipheral vision to provide depth information, segmentthe object(s) of interest in the scene, object recognition,tracking and pose estimation. One important propertyof the system is that the step from object recognitionto pose estimation is completely automatic combiningboth appearance and geometric models. Rather thanconcentrating on the integration issues, our primary goalis to investigate the importance and effect of cameraconfiguration, their number and type, to the choice anddesign of the underlying visual algorithms. Experimentalevaluation is performed in a realistic indoor environmentwith occlusions, clutter, changing lighting and backgroundconditions.

Place, publisher, year, edition, pages
2004.
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:kth:diva-62163OAI: oai:DiVA.org:kth-62163DiVA: diva2:480242
Conference
(IROS'04), Workshop on Advances in Robot Vision – From Domestic Environments to. Medical Applications, Sendai, Japan, September 2004
Note
QC 20120125Available from: 2012-01-19 Created: 2012-01-18 Last updated: 2018-01-12Bibliographically approved

Open Access in DiVA

No full text

Other links

http://www.csc.kth.se/~celle/papers/kragic_iros04.pdf

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Kragic, DanicaBjörkman, Mårten

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Kragic, DanicaBjörkman, MårtenChristensen, Henrik I.Eklundh, Jan-Olof
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  • apa
  • harvard1
  • ieee
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  • vancouver
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Language
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Output format
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