Vision-based grasp planning of 3D objects by extending 2D contour based algorithms

被引：17
|
作者：
Speth, Johannes [1 ]
Morales, Antonio [2 ]
Sanz, Pedro J. [2 ]
机构：
[1] Tech Univ Munich, Munich, Germany
[2] Univ Jaume 1, Robot Intelligence Lab, Castellon de La Plana, Spain
来源：
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年
关键词：
D O I：
10.1109/IROS.2008.4650632
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper addresses the problem of grasp planning of unmodelled 3D objects with the aide of vision. The approach proposes the extension of fast 2D contour-based grasp planning algorithms, and the use of images of the target object from different points of view to recover critical 3D information like the size, location and the pose. A complete method is described, and experimental results are presented showing its feasibility.
引用
收藏
页码：2240 / +
页数：2
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