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.

Konferenzbeitrag | Veröffentlicht| Englisch
 
Download
OA
Abstract / Bemerkung
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.
Stichworte
Segmentation; 3D; Robot Grasping; Computer Vision
Erscheinungsjahr
2012
Konferenz
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
Konferenzort
Algarve, Portugal
Konferenzdatum
2012-10-07
Page URI
https://pub.uni-bielefeld.de/record/2530696

Zitieren

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. doi:10.1109/iros.2012.6385692
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.
Alle Dateien verfügbar unter der/den folgenden Lizenz(en):
Copyright Statement:
This Item is protected by copyright and/or related rights. [...]
Volltext(e)
Access Level
OA Open Access
Zuletzt Hochgeladen
2019-09-25T06:42:10Z
MD5 Prüfsumme
94cf14f1d55e050bba4c0f1a286239c1

Externes Material:
Publikation, die diesen PUB Eintrag enthält
Beschreibung
Video of robot grasping
Publikation, die diesen PUB Eintrag enthält
Beschreibung
Video of deictic gestures

Export

Markieren/ Markierung löschen
Markierte Publikationen

Open Data PUB

Suchen in

Google Scholar