3D Scene Segmentation for Autonomous Robot Grasping

Ückermann A, Elbrechter C, Haschke R, Ritter H (2012)
Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Algarve, Portugal.

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Conference Paper | Published | English
Abstract
We present an algorithm to segment an unstructured table top scene. Operating on the depth image of a Kinect camera, the algorithm robustly separates objects of previously unknown shape in cluttered scenes of stacked and partially occluded objects. The model-free algorithm finds smooth surface patches which are subsequently combined to form object hypotheses. We evaluate the algorithm regarding its robustness and real-time capabilities and discuss its advantages compared to existing approaches as well as its weak spots to be addressed in future work. We also report on an autonomous grasping experiment with the Shadow Robot Hand which employs the estimated shape and pose of segmented objects.
Publishing Year
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
Location
Algarve, Portugal
Conference Date
2012-10-07
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Ückermann A, Elbrechter C, Haschke R, Ritter H. 3D Scene Segmentation for Autonomous Robot Grasping. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Algarve, Portugal.
Ückermann, A., Elbrechter, C., Haschke, R., & Ritter, H. (2012). 3D Scene Segmentation for Autonomous Robot Grasping. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Algarve, Portugal.
Ückermann, A., Elbrechter, C., Haschke, R., and Ritter, H. (2012).“3D Scene Segmentation for Autonomous Robot Grasping”. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Algarve, Portugal.
Ückermann, A., et al., 2012. 3D Scene Segmentation for Autonomous Robot Grasping. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Algarve, Portugal.
A. Ückermann, et al., “3D Scene Segmentation for Autonomous Robot Grasping”, Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Algarve, Portugal, 2012.
Ückermann, A., Elbrechter, C., Haschke, R., Ritter, H.: 3D Scene Segmentation for Autonomous Robot Grasping. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Algarve, Portugal (2012).
Ückermann, André, Elbrechter, Christof, Haschke, Robert, and Ritter, Helge. “3D Scene Segmentation for Autonomous Robot Grasping”. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Algarve, Portugal, 2012.
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2012-10-10 11:33:12

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