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

该奖项提供资金，用于购买用于机械臂的紧凑型、轻量化测距仪。在ARM和测距仪的支持下，这项研究包括开发从深度数据恢复超二次曲面的算法，评估各种“从形状到形状”算法的质量，调查使用实时传感器反馈来控制使用手持扫描仪的装配和部件匹配活动，以及开发使用传感器数据执行智能抓取任务的算法。使用多种信息源是当前机器人学许多研究的特点。安装在机械臂上的能够实时采集数据的测距仪通过移动机械臂提供了获得准确的三维表面数据的能力。该奖项支持两种不同类型的研究。首先是算法的开发，这种算法将使用测距仪和机器人手臂的运动来实时获取有关被检查物体的三维信息。第二类研究是将附加信息合并到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.