Visual servoing on unknown objects
2012 (English)In: Mechatronics (Oxford), ISSN 0957-4158, Vol. 22, no 4, 423-435 p.Article in journal (Refereed) Published
We study visual servoing in a framework of detection and grasping of unknown objects. Classically, visual servoing has been used for applications where the object to be servoed on is known to the robot prior to the task execution. In addition, most of the methods concentrate on aligning the robot hand with the object without grasping it. In our work, visual servoing techniques are used as building blocks in a system capable of detecting and grasping unknown objects in natural scenes. We show how different visual servoing techniques facilitate a complete grasping cycle.
Place, publisher, year, edition, pages
2012. Vol. 22, no 4, 423-435 p.
Active vision, Calibration, Object grasping, Visual servoing
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-68723DOI: 10.1016/j.mechatronics.2011.09.009ISI: 000304847300007ScopusID: 2-s2.0-84861095800OAI: oai:DiVA.org:kth-68723DiVA: diva2:485239
FunderEU, FP7, Seventh Framework Programme, IST-FP7-IP-215821ICT - The Next Generation
QC 201205302012-01-282012-01-282013-04-11Bibliographically approved