Stereo vision of liquid and particle flow for robot pouring

Akihiko Yamaguchi, Christopher G. Atkeson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

We explore stereo vision for recognizing liquid and particle flow as 3D points (a point cloud). In our pouring research [1], we noticed that we could detect liquid flow using optical flow detection, especially with the Lucas-Kanade method [2]. In this paper we extend this idea so that we can reconstruct 3D liquid flow from a stereo camera in order to learn dynamical models of flow. Such dynamical models would be useful to reason about pouring behaviors. We demonstrate our method in pouring various materials: water, coke, jelly, dish liquid, and creamer powder. The results show that our method could detect the 3D flow as a point cloud, and they captured the actual flow phenomenon. We also show that our method works in a robot pouring scenario. Accompanying video: https://youtu.be/2oFjVJwXhKs.

Original languageEnglish
Title of host publicationHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages1173-1180
Number of pages8
ISBN (Electronic)9781509047185
DOIs
Publication statusPublished - 2016 Dec 30
Externally publishedYes
Event16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
Duration: 2016 Nov 152016 Nov 17

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016
CountryMexico
CityCancun
Period16/11/1516/11/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Yamaguchi, A., & Atkeson, C. G. (2016). Stereo vision of liquid and particle flow for robot pouring. In Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots (pp. 1173-1180). [7803419] (IEEE-RAS International Conference on Humanoid Robots). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2016.7803419