Unknown object modeling on the basis of vision and pushing manipulation

Kazunori Ohno, Kurose Kensuke, Eijiro Takeuchi, Lei Zhong, Masanobu Tsubota, Satoshi Tadokoro

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

The authors aim at modeling unknown objects in human life environment using robot technologies. In this paper, the authors propose a method for modeling an unknown object on a desk using vision sensors, a manipulator, and a tactile sensor. The created model of an unknown object consists of the whole images and the 3-D point cloud with the texture. For getting the whole images, the unknown object is rotated by graspless manipulation. Pushing manipulation is used for the rotation. Pushing manipulation enables one to create models for objects that cannot be grasped by a robot hand. Tactile information is also used to confirm the pushing manipulation. The authors propose a method that decides a contact point and pushing direction for rotating the object from the fragmentary visual information. During the pushing manipulation, the object shape and the motion are measured by using a 3-D range camera and a stereo camera. The motion is estimated using 3-D flow. The model is built by combining the estimated motion and the measured 3-D shape. The method is useful for gathering objects' information in human life environment.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
ページ1942-1948
ページ数7
DOI
出版ステータスPublished - 2011 12 1
イベント2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
継続期間: 2011 12 72011 12 11

Other

Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
CountryThailand
CityPhuket
Period11/12/711/12/11

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

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