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
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Learning grasping points with shape context
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
نویسندگان
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