A unified framework for grasping and shape acquisition via pretouch sensing
A unified framework for grasping and shape acquisition via pretouch sensing
复制标题
通过预触摸传感进行抓取和形状采集的统一框架
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
Joshua R. Smith
中科院分区：
文献类型：
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作者：
Liang;Joshua R. Smith
本文提出了一个统一的框架，可以使用预触摸传感器进行自动探索，以减少抓取之前的物体形状不确定性。机器人一开始仅使用从 Kinect 深度传感器获取的不完整的物体形状数据——它没有物体的模型。将 Kinect 点云与遮挡和透明度的先验概率分布相结合，它可以对 Kinect 无法观察到的对象部分进行推断。根据推断的物体形状进行操作，迭代抓取重新规划和探索算法决定何时需要进一步探索，以及使用预触摸传感器在场景中探索何处。探索动作收集的信息将直接添加到机器人的环境表示中，并在下一次抓取规划迭代中自动考虑。
This paper presents a unified framework to enable automatic exploration with a pretouch sensor to reduce object shape uncertainty before grasping. The robot starts with only the incomplete object shape data it acquires from a Kinect depth sensor-it has no model of the object. Combining the Kinect pointcloud with prior probability distributions for occlusion and transparency, it makes inferences about portions of the object that the Kinect was not able to observe. Operating on the inferred shape of the object, an iterative grasp replanning and exploration algorithm decides when further exploration is required, and where to explore in the scene using the pretouch sensor. The information gathered by the exploration action is added directly to the robot's environment representation and is considered automatically in the next grasp planning iteration.