کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
413494 | 680523 | 2010 | 16 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Learning grasping points with shape context
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
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چکیده انگلیسی
This paper presents work on vision based robotic grasping. The proposed method adopts a learning framework where prototypical grasping points are learnt from several examples and then used on novel objects. For representation purposes, we apply the concept of shape context and for learning we use a supervised learning approach in which the classifier is trained with labelled synthetic images. We evaluate and compare the performance of linear and non-linear classifiers. Our results show that a combination of a descriptor based on shape context with a non-linear classification algorithm leads to a stable detection of grasping points for a variety of objects.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 58, Issue 4, 30 April 2010, Pages 362–377
Journal: Robotics and Autonomous Systems - Volume 58, Issue 4, 30 April 2010, Pages 362–377
نویسندگان
Jeannette Bohg, Danica Kragic,