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

共 50 条

[41] Overview on Vision-Based 3D Object Recognition Methods
Dong, Tianzhen
Qi, Xiao
Zhang, Qing
Li, Wenju
Xiong, Liang
IMAGE AND GRAPHICS, ICIG 2019, PT II, 2019, 11902 : 243 - 254
[42] Robust 3D vision based control and planning
Zanne, P
Morel, G
Plestan, F
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 4423 - 4428
[43] 3D vision-based anomaly detection in manufacturing: A survey
Juan Du
Chengyu Tao
Xuanming Cao
Fugee Tsung
Frontiers of Engineering Management, 2025, 12 (2): : 343 - 360
[44] Vision-based 3D scene analysis for driver assistance
Burschka, D
Hager, GD
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 812 - 818
[45] 3D Vision-based Security Monitoring for Railroad Stations
Park, Youngtae
Lee, Daeho
JOURNAL OF THE OPTICAL SOCIETY OF KOREA, 2010, 14 (04) : 451 - 457
[46] Uncertainty Reduction in Contour-Based 3D/2D Registration of Bone Surfaces
Thusini, Xolisile O.
Reyneke, Cornelius J. F.
Aellen, Jonathan
Forster, Andreas
Fouefack, Jean-Rassaire
Tegang, Nicolas H. Nbonsou
Vetter, Thomas
Douglas, Tania S.
Mutsvangwa, Tinashe E. M.
SHAPE IN MEDICAL IMAGING, SHAPEMI 2020, 2020, 12474 : 18 - 29
[47] 3D Surface Reconstruction of Spinal Ultrasound Images Based on 2D Contour Line
Jiang, Wang
Zhang, Junhua
PROCEEDINGS OF THE 2016 3RD INTERNATIONAL CONFERENCE ON MATERIALS ENGINEERING, MANUFACTURING TECHNOLOGY AND CONTROL, 2016, 67 : 110 - 115
[48] Vision-Based Measurement for Localization of Objects in 3-D for Robotic Applications
Lins, Romulo Goncalves
Givigi, Sidney N.
Gardel Kurka, Paulo Roberto
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2015, 64 (11) : 2950 - 2958
[49] 3D Vision-Based Local Path Planning System of a Humanoid Robot for Obstacle Avoidance
Kang, Tae-Koo
Lim, Myo-Taeg
Park, Gwi-Tae
Kim, Dong W.
JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY, 2013, 8 (04) : 879 - 888
[50] Uncalibrated 3D vision computation based on knowledge of objects
Kong, B
Fang, TJ
SECOND INTERNATION CONFERENCE ON IMAGE AND GRAPHICS, PTS 1 AND 2, 2002, 4875 : 888 - 895

← 1 2 3 4 5 →