Homography-based grasp tracking for planar objects

被引：3

作者：

Carloni, R ^{[1
]}

Recatalá, G ^{[1
]}

Melchiorri, C ^{[1
]}

Sanz, PJ ^{[1
]}

Cervera, E ^{[1
]}

机构：

[1] Univ Bologna, DEIS, Dept Elect Comp Sci & Syst, LAR, I-40136 Bologna, Italy

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1307246

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The visual tracking of grasp points is an essential operation for the execution of an approaching movement of a robot arm to an object: the grasp points are used as features for the definition of the control law. This paper describes a strategy for tracking grasps on planar objects based on the use of a homography. In particular, the homography is used for transferring (translating) a grasp from a view of an object to a second one, providing in this way a correspondence in the second view. The grasp tracking procedure combines the search of a new grasp with the translation and the evaluation of that grasp between object views. Results of the proposed grasp tracking strategy are shown in case of grasps computed for a two-finger and a three-finger gripper.

引用

页码：795 / 800

页数：6

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