Segmentation via manipulation
Segmentation via manipulation
复制标题
通过操作进行分割
DOI：
--
复制
发表时间：
1991
期刊：
影响因子：
--
通讯作者：
R. Bajcsy
中科院分区：
文献类型：
--
作者：
C. Tsikos;R. Bajcsy
介绍了一种通过视觉和操作对未知物体的随机堆进行迭代、交互式场景分割和简化的范例。场景简化是基于图的顶点和边去除操作。这些操作被定义为与拾取和推送操作同构。传感器被用作图形发生器，机械手被用作图形的分解机构。该模型是一个非确定性有限状态图灵机。视觉系统、机械手、力/扭矩和其他传感器输入被集成到机器人工作单元中。实验进行测试的收敛性和错误恢复四种不同的策略进行了讨论。研究发现，在一定条件下，该策略可以容忍错误的感觉数据，从病理状态恢复，并收敛。>
A paradigm of iterative, interactive scene segmentation and simplification of random heaps of unknown objects via vision and manipulation is introduced. The scene simplification is based on the graph operations of vertex and edge removal. These operations are defined isomorphic to the pick and push manipulation actions. Sensors are used as graph generators and the manipulator is used as the decomposing mechanism of the graphs. The model is a nondeterministic finite-state Turing machine. A vision system, a manipulator, and force/torque and other sensory input are integrated into a robot work cell. Experiments conducted to test convergence and error recovery of four different strategies are discussed. It is found that under certain conditions the strategies can tolerate errors in the sensory data, recover from pathological states, and converge. >