کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10322281 660850 2015 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
What, Where and How? Introducing pose manifolds for industrial object manipulation
ترجمه فارسی عنوان
چه، کجا و چگونه؟ معرفی چند منظوره برای دستکاری صنعتی شی
کلمات کلیدی
شی گرفتن، تشخیص شی، برآورد پوزیشن، طبقه بندی معنایی مبتنی بر هستی شناسی،
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
چکیده انگلیسی
In this paper we propose a novel method for object grasping that aims to unify robot vision techniques for efficiently accomplishing the demanding task of autonomous object manipulation. Through ontological concepts, we establish three mutually complementary processes that lead to an integrated grasping system able to answer conjunctive queries such as “What”, “Where” and “How”? For each query, the appropriate module provides the necessary output based on ontological formalities. The “What” is handled by a state of the art object recognition framework. A novel 6 DoF object pose estimation technique, which entails a bunch-based architecture and a manifold modeling method, answers the “Where”. Last, “How” is addressed by an ontology-based semantic categorization enabling the sufficient mapping between visual stimuli and motor commands.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Expert Systems with Applications - Volume 42, Issue 21, 30 November 2015, Pages 8123-8133
نویسندگان
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