Real-Time Active Acquisition and Representation of 3-Dimensional Objects

该奖项为购买一种紧凑、轻便的测距仪提供资金，用于机器人手臂。配备测距仪的手臂支持的研究包括开发从深度数据中恢复超二次曲面的算法，评估各种“形状-从-”算法的质量，研究使用手持扫描仪实时传感器反馈来控制装配和零件匹配活动。并开发了利用传感器数据实现智能抓取任务的算法。使用多种信息源是当前机器人研究的特点。安装在机械臂上的测距仪能够实时采集数据，通过移动机械臂，可以获得精确的三维表面数据。该奖项支持两种不同类型的研究。首先是算法的发展，它将使用测距仪和机器人手臂的运动来实时获取被检查对象的三维信息。第二种类型的研究是将附加信息纳入抓取和组装对象的算法中。

This award provides funds to purchase a compact, lightweight rangefinder for use on a robot arm. The research supported by the arm with the rangefinder includes the development of algorithms to recover superquadrics from depth data, evaluation of the quality of various "shape-from-" algorithms, investigation of the use of real- time sensor feedback to control assembly and parts mating activities using a hand mounted scanner, and the development of algorithms using the sensor data for intelligent grasping tasks. The use of multiple information sources is characteristic of much of the current research in robotics. A rangefinder, capable of real time data acquisition, mounted on a robot arm provides the capability, through moving the arm, of obtaining accurate three dimensional surface data. Two distinct types of research are supported under this award. The first is the development of algorithms that will use the rangefinder and the robot arm motion to obtain three dimensional information, in real time, about the objects being examined. The second type of research is to incorporate the additional information into algorithms for grasping and assembling objects.