Combining Template Tracking and Laser Peak Detection for 3D Reconstruction and Grasping in Underwater Environments

Autonomous grasping of unknown objects by a robot is a highly challenging skill that is receiving increasing attention in the last years. This problem becomes still more challenging (and less explored) in underwater environments, with highly unstructured scenarios, limited availability of sensors and, in general, adverse conditions that affect in different degree the robot perception and control systems. This paper describes an approach for semi-autonomous grasping and recovery on underwater unknown objects from floating vehicles. A laser stripe emitter is attached to a robot forearm that performs a scan of a target of interest. This scan is captured by a camera that also estimates the motion of the floating vehicle while doing the scan. The scanned points are triangulated and transformed according to the motion estimation, thus recovering partial 3D structure of the scene with respect to a fixed frame. A user then indicates the part where to grab the object, and the final grasp is automatically planned on that area. The approach herein presented is tested and validated in water tank conditions.