Publication
Object detection methods for robot grasping: Experimental assessment and tuning
Conference Article
Conference
Catalan Conference on Artificial Intelligence (CCIA)
Edition
15th
Pages
123-132
Doc link
http://dx.doi.org/10.3233/978-1-61499-139-7-123
File
Authors
Projects associated
Abstract
In this work we address the problem of object detection for the purpose of object manipulation in a service robotics scenario. Several implementations of state-of-the-art object detection methods were tested, and the one with the best performance was selected. During the evaluation, three main practical limitations of current methods were identified in relation with long-range object detection, grasping point detection and automatic learning of new objects; and practical solutions are proposed for the last two. Finally, the complete pipeline is evaluated in a real grasping experiment.
Categories
manipulators, object detection, robot vision.
Author keywords
object detection, grasping, robotics
Scientific reference
F. Rigual, A. Ramisa, G. Alenyà and C. Torras. Object detection methods for robot grasping: Experimental assessment and tuning, 15th Catalan Conference on Artificial Intelligence, 2012, Alacant, in Artificial Intelligence Research and Development, Vol 248 of Frontiers in Artificial Intelligence and Applications, pp. 123-132, 2012, IOS Press.
Follow us!