Perception for mobile manipulation and grasping using active stereo

@article{Rusu2009PerceptionFM,
  title={Perception for mobile manipulation and grasping using active stereo},
  author={Radu Bogdan Rusu and Andreas Holzbach and Rosen Diankov and Gary R. Bradski and Michael Beetz},
  journal={2009 9th IEEE-RAS International Conference on Humanoid Robots},
  year={2009},
  pages={632-638}
}
In this paper we present a comprehensive perception system with applications to mobile manipulation and grasping for personal robotics. Our approach makes use of dense 3D point cloud data acquired using stereo vision cameras by projecting textured light onto the scene. To create models suitable for grasping, we extract the supporting planes and model object clusters with different surface geometric primitives. The resultant decoupled primitive point clusters are then reconstructed as smooth… CONTINUE READING

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Key Quantitative Results

  • We validated our framework on a dataset of IKEA objects acquired using real time stereo with textured light, and obtained 98.27% accuracy on the local point interpretation using geometric primitives.

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