Vision for robotic object manipulation in domestic settings
Vision for robotic object manipulation in domestic settings
复制标题
家庭环境中机器人物体操纵的视觉
DOI：
10.1016/j.robot.2005.03.011
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
J. Eklundh
中科院分区：
文献类型：
--
作者：
D. Kragic;Mårten Björkman;H. Christensen;J. Eklundh
在本文中，我们提出了一个视觉系统的机器人对象操作任务在自然，国内环境。给定复杂的取放机器人任务，整个检测-接近-抓取回路的相关问题被考虑。我们的视觉系统集成了一些算法，使用单眼和双目线索，以实现在现实环境中的鲁棒性。这些线索被考虑并与中央凹和周边视觉结合使用，以提供深度信息、感兴趣对象的分割、对象识别、跟踪和姿态估计。该系统的一个重要特性是，从物体识别到姿态估计的步骤是完全自动的，结合外观和几何模型。实验评估是在一个现实的室内环境中进行的闭塞，混乱，不断变化的照明和背景条件。
In this paper, we present a vision system for robotic object manipulation tasks in natural, domestic environments. Given complex fetch-and-carry robot tasks, the issues related to the whole detect-approach-grasp loop are considered. Our vision system integrates a number of algorithms using monocular and binocular cues to achieve robustness in realistic settings. The cues are considered and used in connection to both foveal and peripheral vision to provide depth information, segmentation of the object(s) of interest, object recognition, tracking and pose estimation. One important property of the system is that the step from object recognition to pose estimation is completely automatic combining both appearance and geometric models. Experimental evaluation is performed in a realistic indoor environment with occlusions, clutter, changing lighting and background conditions.