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Grasping Unknown Objects using an Early Cognitive Vision System for General Scene Understanding
The Maersk Mc-Kinney Möller Institute, University of Southern Denmark. (Cognitive Vision Lab)
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. (Center for Autonomous Systems)
The Maersk Mc-Kinney Möller Institute, University of Southern Denmark. (Robotics Lab)
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. (Center for Autonomous Systems)ORCID iD: 0000-0003-2965-2953
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2011 (English)In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2011, 987-994 p.Conference paper, Published paper (Refereed)
Abstract [en]

Grasping unknown objects based on real-world visual input is a challenging problem. In this paper, we present an Early Cognitive Vision system that builds a hierarchical representation based on edge and texture information, which is a sparse but powerful description of the scene. Based on this representation we generate edge-based and surface-based grasps. The results show that the method generates successful grasps, that the edge and surface information are complementary, and that the method can deal with more complex scenes. We furthermore present a benchmark for visual-based grasping.

Place, publisher, year, edition, pages
IEEE , 2011. 987-994 p.
Keyword [en]
vision-based grasping, scene understanding
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-47182DOI: 10.1109/IROS.2011.6048619Scopus ID: 2-s2.0-84455162003ISBN: 978-1-61284-454-1 (print)OAI: oai:DiVA.org:kth-47182DiVA: diva2:454501
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems
Projects
EU project eSMCs (IST-FP7-IP-270212)SSF RoSy
Funder
EU, FP7, Seventh Framework Programme, IST-FP7-IP-270212Swedish Research Council
Note
© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Available from: 2011-11-10 Created: 2011-11-07 Last updated: 2011-11-10Bibliographically approved

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