Publication
Perception for detection and grasping
Book Chapter (2019)
Book Title
Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics
Publisher
Springer
Pages
275-283
Volume
129
Serie
Springer Tracts in Advanced Robotics
Doc link
https://doi.org/10.1007/978-3-030-12945-3_20
File
Abstract
This research presents a methodology for the detection of the crawler used in the project AEROARMS. The approach consisted on using a two-step progressive strategy, going from rough detection and tracking, for approximation maneuvers, to an accurate positioning step based on fiducial markers. Two different methods are explained for the first step, one using efficient image segmentation approach; and the second one using Deep Learning techniques to detect the center of the crawler. The fiducial markers are used for precise localization of the crawler in a similar way as explained in earlier chapters. The methods can run in real-time.
Categories
robots.
Scientific reference
E. Guerra, A. Pumarola, A. Grau and A. Sanfeliu. Perception for detection and grasping. In Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics, 275-283. Springer, 2019.
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