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Scene Representation and Object Grasping Using Active Vision

2010

Conference Paper

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Object grasping and manipulation pose major challenges for perception and control and require rich interaction between these two fields. In this paper, we concentrate on the plethora of perceptual problems that have to be solved before a robot can be moved in a controlled way to pick up an object. A vision system is presented that integrates a number of different computational processes, e.g. attention, segmentation, recognition or reconstruction to incrementally build up a representation of the scene suitable for grasping and manipulation of objects. Our vision system is equipped with an active robotic head and a robot arm. This embodiment enables the robot to perform a number of different actions like saccading, fixating, and grasping. By applying these actions, the robot can incrementally build a scene representation and use it for interaction. We demonstrate our system in a scenario for picking up known objects from a table top. We also show the system’s extendibility towards grasping of unknown and familiar objects.

Author(s): Gratal, Xavi and Bohg, Jeannette and Björkman, Mårten and Kragic, Danica
Book Title: IROS’10 Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics
Year: 2010
Month: October

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

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BibTex

@inproceedings{gratal:irosws10,
  title = {Scene Representation and Object Grasping Using Active Vision},
  author = {Gratal, Xavi and Bohg, Jeannette and Bj{\"o}rkman, M{\aa}rten and Kragic, Danica},
  booktitle = {IROS'10 Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics},
  month = oct,
  year = {2010},
  month_numeric = {10}
}