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

页码：2240 / +

页数：2

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