Research and Development of Visual Perception and Manipulation in an Interactive Autonomous Robotic System

该计划的拟议提案是开发方法和技术，将导致在实际应用中与动态交互的自主移动的机器人的精确操纵。主要贡献是提高当前自主机器人系统的多功能性，自主性和可靠性，特别是在操作应用中。鉴于最终目标所需的能力，拟议计划的范围涵盖四个主要研究领域：1.机器视觉，特别是实时和鲁棒的对象跟踪和手势理解2。先进的力量，触觉和视觉控制，3。机器学习，4。传感器融合。提出了一个总体架构，包括三个子系统：1）。有效的视觉跟踪和运动估计; 2）.互动框架;（3）。先进的操作控制。

The proposed proposal for the program is to develop methodologies and technologies that will lead to precise manipulation of autonomous mobile robots in practical applications with dynamic interaction. The main contribution is set to improve the versatility, autonomy and dependability of current autonomous robotic systems, specifically in manipulation applications. In view of the needed capabilities for the ultimate objective, the scope of the proposed program spans four main research areas: 1. Machine vision, specifically real-time and robust object tracking and hand gesture understanding 2. Advanced force, tactile and vision control, 3. Machine learning, and 4. Sensor fusion. An overall architecture is proposed, containing three sub-systems: 1). Efficient visual tracking and motion estimation; 2). Interaction framework; and 3). Advanced control in manipulation.