Proceedings ArticleDOI
Perception for mobile manipulation and grasping using active stereo
Radu Bogdan Rusu,Andreas Holzbach,Rosen Diankov,Gary Bradski,Michael Beetz +4 more
- pp 632-638
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TLDR
A comprehensive perception system with applications to mobile manipulation and grasping for personal robotics, which makes use of dense 3D point cloud data acquired using stereo vision cameras by projecting textured light onto the scene.Abstract:
In this paper we present a comprehensive perception system with applications to mobile manipulation and grasping for personal robotics. Our approach makes use of dense 3D point cloud data acquired using stereo vision cameras by projecting textured light onto the scene. To create models suitable for grasping, we extract the supporting planes and model object clusters with different surface geometric primitives. The resultant decoupled primitive point clusters are then reconstructed as smooth triangular mesh surfaces, and their use is validated in grasping experiments using OpenRAVE [1]. To annotate the point cloud data with primitive geometric labels we make use of our previously proposed Fast Point Feature Histograms [2] and probabilistic graphical methods (Conditional Random Fields), and obtain a classification accuracy of 98.27% for different object geometries. We show the validity of our approach by analyzing the proposed system for the problem of building object models usable in grasping applications with the PR2 robot (see Figure 1).read more
Citations
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Journal ArticleDOI
Semantic 3D Object Maps for Everyday Manipulation in Human Living Environments
TL;DR: The dissertation presented in this article proposes Semantic 3D Object Models as a novel representation of the robot’s operating environment that satisfies these requirements and shows how these models can be automatically acquired from dense 3D range data.
Journal ArticleDOI
Human-Inspired Robotic Grasp Control With Tactile Sensing
TL;DR: A novel robotic grasp controller that allows a sensorized parallel jaw gripper to gently pick up and set down unknown objects once a grasp location has been selected, inspired by the control scheme that humans employ for such actions.
Journal ArticleDOI
One-shot learning and generation of dexterous grasps for novel objects
TL;DR: A method for one-shot learning of dexterous grasps and grasp generation for novel objects using an incomplete point cloud from a depth camera and a product of experts, in which experts are of two types.
Journal ArticleDOI
Learning spatial relationships between objects
TL;DR: An algorithm which redescribes a scene in terms of a layered representation, from labeled point clouds of the objects in the scene, which provides symbolic meaning to the inter-object relationships useful for subsequent commonsense reasoning and decision making is presented.
Proceedings ArticleDOI
3D modelling of leaves from color and ToF data for robotized plant measuring
TL;DR: The work is a proof-of-concept that dense color data combined with sparse depth as provided by a ToF camera yields a good enough 3D approximation for automated plant measuring at the high throughput imposed by the application.
References
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Proceedings ArticleDOI
Fast Point Feature Histograms (FPFH) for 3D registration
TL;DR: This paper modifications their mathematical expressions and performs a rigorous analysis on their robustness and complexity for the problem of 3D registration for overlapping point cloud views, and proposes an algorithm for the online computation of FPFH features for realtime applications.
Journal ArticleDOI
Using spin images for efficient object recognition in cluttered 3D scenes
Andrew E. Johnson,Martial Hebert +1 more
TL;DR: In this paper, a 3D shape-based object recognition system for simultaneous recognition of multiple objects in scenes containing clutter and occlusion is presented, which is based on matching surfaces by matching points using the spin image representation.
Journal ArticleDOI
MLESAC: A New Robust Estimator with Application to Estimating Image Geometry
TL;DR: A new robust estimator MLESAC is presented which is a generalization of the RANSAC estimator which adopts the same sampling strategy as RANSac to generate putative solutions, but chooses the solution that maximizes the likelihood rather than just the number of inliers.
Journal ArticleDOI
Learning OpenCV---Computer Vision with the OpenCV Library (Bradski, G.R. et al.; 2008)[On the Shelf]
TL;DR: This is an introductory textbook for teachers, students, professionals, and hobbyists who want to learn the basics of computer vision and is unashamedly a promotion for the open-source library.
Journal ArticleDOI
Graspit! A versatile simulator for robotic grasping
A.T. Miller,Peter K. Allen +1 more
TL;DR: The different types of world elements and the general robot definition are discussed and the robot library is presented, and the grip analysis and visualization method were presented.