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Visual servoing on unknown objects
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.
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
2012 (English)In: Mechatronics (Oxford), ISSN 0957-4158, E-ISSN 1873-4006, Vol. 22, no 4, 423-435 p.Article in journal (Refereed) Published
Abstract [en]

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.
Keyword [en]
Active vision, Calibration, Object grasping, Visual servoing
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-68723DOI: 10.1016/j.mechatronics.2011.09.009ISI: 000304847300007Scopus ID: 2-s2.0-84861095800OAI: oai:DiVA.org:kth-68723DiVA: diva2:485239
Funder
EU, FP7, Seventh Framework Programme, IST-FP7-IP-215821ICT - The Next Generation
Note

QC 20120530

Available from: 2012-01-28 Created: 2012-01-28 Last updated: 2017-12-08Bibliographically approved

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Kragic, Danica

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Gratal, XaviRomero, JavierBohg, JeannetteKragic, Danica
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