Grasping Unknown Objects using an Early Cognitive Vision System for General Scene Understanding

被引：0

作者：

Popovic, Mila ^{[1
]}

Kootstra, Gert ^{[2
]}

Jorgensen, Jimmy Alison ^{[3
]}

Kragic, Danica ^{[2
]}

Kruger, Norbert ^{[1
]}

机构：

[1] Univ South Denmark, Maersk Mc Minney Moller Inst, Cognit Vis Lab, Campusvej 55, DK-5230 Odense, Denmark

[2] CSC, KTH, Comp Vis & Act Percept Lab, Stockholm, Sweden

[3] Univ Southern Denmark, Maersk Mc Kinney Moller Inst, Robot Lab, DK-5230 Odense, Denmark

来源：

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2011年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Grasping unknown objects based on real-world visual input is a challenging problem. In this paper, we present an Early Cognitive Vision system that builds a hierarchical representation based on edge and texture information, which is a sparse but powerful description of the scene. Based on this representation we generate edge-based and surface-based grasps. The results show that the method generates successful grasps, that the edge and surface information are complementary, and that the method can deal with more complex scenes. We furthermore present a benchmark for visual-based grasping.

引用

页码：987 / 994

页数：8

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