کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
411386 679552 2013 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments
چکیده انگلیسی

In this article, we describe efficient methods for tackling everyday mobile manipulation tasks that require object pick-up. In order to achieve real-time performance in complex environments, we focus our approach on fast yet robust solutions. For 3D perception of objects on planar surfaces, we develop scene segmentation methods that process depth images in real-time at high frame rates. We efficiently plan feasible, collision-free grasps for the segmented objects directly from the perceived point clouds to achieve fast execution times. We evaluate our approaches quantitatively in lab experiments and also report on the successful integration of our methods in public demonstrations at RoboCup@Home competitions in 2011 and 2012.


► Efficient techniques for mobile manipulation in domestic environments.
► Real-time perception of objects using depth cameras.
► Efficient grasp planning on partial views.
► Experiments and public demonstrations to validate the approach.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 61, Issue 10, October 2013, Pages 1106–1115
نویسندگان
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