An Experimental Comparis on of ECV Based Grasping Methods

• Autorzy: Kukliński K. , Siemieniako F. , Popović M. , Kruger N.
• Języki publikacji: EN

Abstrakty

EN

The paper presents the experimental comparison of ECV based grasping methods. We focus on three methods which generate grasping hypotheses based on visual information. One method based on edge information and two other ones based on surface information. These methods were tested by two kinds of experiments: simple one and complex one. Experiments were conducted at the University of Southern Denmark in the Cognitive Vision Lab. The research reveals the complementary power of given grasping methods. Furthermore it shows which method is the best for each of the objects. Owing to that, it is possible to improve grasping by using surface as well as edge information.

Słowa kluczowe

EN

grasping unknown objects; visual scene representation; vision-based grasping; grasping algorithm

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Research
• Rocznik: 2011
• Tom: Vol. 35, No. 3
• Strony: 53--59
• Opis fizyczny: Bibliogr. 4 poz., wykr.

Twórcy

autor

Kukliński K.

autor

Siemieniako F.

autor

Popović M.

autor

Kruger N.

• Białystok University of Technology,

Bibliografia

• Pugeault, N., Wörgötter, F., Krüger, N., 2010, International Journal of Humanoid Robotics (Special Issue on Cognitive Humanoid Vision), Visual Primitives: Local, Condensed, and Semantically Rich Visual Descriptors and their Applications in Robotics, 7, 3, 379-405.
• Popović, M., 2008, An Early Grasping Reflex in a Cognitive Robot Vision System, Master Thesis, University of Southern Denmark.
• Popović, M., Kraft, D., Bodenhagen, L., Baseski, E., Pugeault, N., Kragic, D., Asfour, T., Krüger, N., 2010, A Strategy for Grasping Unknown Objects based on Co-Planarity and Colour Information, Robotics and Autonomous Systems, 58, 5, 551-565.
• Popović, M., Kootstra, G., Jorgensen, J. A., Kukliński, K., Miatliuk, K., Kragic, D., Krüger., N., (under review), Enabling grasping of unknown objects through a synergistic use of edge and surface information, The International Journal of Robotics Research.