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Integration of Visual Cues for Robotic Grasping

  • Niklas Bergström
  • Jeannette Bohg
  • Danica Kragic
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5815)

Abstract

In this paper, we propose a method that generates grasping actions for novel objects based on visual input from a stereo camera. We are integrating two methods that are advantageous either in predicting how to grasp an object or where to apply a grasp. The first one reconstructs a wire frame object model through curve matching. Elementary grasping actions can be associated to parts of this model. The second method predicts grasping points in a 2D contour image of an object. By integrating the information from the two approaches, we can generate a sparse set of full grasp configurations that are of a good quality. We demonstrate our approach integrated in a vision system for complex shaped objects as well as in cluttered scenes.

Keywords

Dynamic Time Warping Stereo Camera Contour Point Real Plane Good Hypothesis 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Niklas Bergström
    • 1
  • Jeannette Bohg
    • 1
  • Danica Kragic
    • 1
  1. 1.Computer Vision and Active Vision Laboratory, Centre for Autonomous SystemRoyal Institute of TechnologyStockholmSweden

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