[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

Kundu et al., 2019 - Google Patents

A novel geometry-based algorithm for robust grasping in extreme clutter environment

Kundu et al., 2019

View PDF
Document ID
15992046292083043000
Author
Kundu O
Kumar S
Publication year
Publication venue
2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

External Links

Snippet

This paper looks into the problem of grasping unknown objects in a cluttered environment using a 3D point cloud data obtained from a range sensor or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from a single view, possibly …
Continue reading at arxiv.org (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/62—Methods or arrangements for recognition using electronic means
    • G06K9/6201—Matching; Proximity measures
    • G06K9/6202—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G06K9/6203—Shifting or otherwise transforming the patterns to accommodate for positional errors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/36—Image preprocessing, i.e. processing the image information without deciding about the identity of the image
    • G06K9/46—Extraction of features or characteristics of the image
    • G06K9/4604—Detecting partial patterns, e.g. edges or contours, or configurations, e.g. loops, corners, strokes, intersections
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/62—Methods or arrangements for recognition using electronic means
    • G06K9/6267—Classification techniques
    • G06K9/6268—Classification techniques relating to the classification paradigm, e.g. parametric or non-parametric approaches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/62—Methods or arrangements for recognition using electronic means
    • G06K9/6217—Design or setup of recognition systems and techniques; Extraction of features in feature space; Clustering techniques; Blind source separation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00221—Acquiring or recognising human faces, facial parts, facial sketches, facial expressions
    • G06K9/00268—Feature extraction; Face representation
    • G06K9/00281—Local features and components; Facial parts ; Occluding parts, e.g. glasses; Geometrical relationships
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20112—Image segmentation details
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00335—Recognising movements or behaviour, e.g. recognition of gestures, dynamic facial expressions; Lip-reading
    • G06K9/00355—Recognition of hand or arm movements, e.g. recognition of deaf sign language
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image

Similar Documents

Publication Publication Date Title
CN110648361B (en) Real-time pose estimation method and positioning and grabbing system of three-dimensional target object
JP6430064B2 (en) Method and system for aligning data
Richtsfeld et al. Segmentation of unknown objects in indoor environments
Monica et al. Contour-based next-best view planning from point cloud segmentation of unknown objects
Ten Pas et al. Localizing grasp affordances in 3-d points clouds using taubin quadric fitting
Holz et al. Active recognition and manipulation for mobile robot bin picking
Zhang et al. Robotic grasp detection based on image processing and random forest
Collet et al. Efficient multi-view object recognition and full pose estimation
Eizentals et al. 3D pose estimation of green pepper fruit for automated harvesting
Hausman et al. Tracking-based interactive segmentation of textureless objects
Sui et al. Sum: Sequential scene understanding and manipulation
Varadarajan et al. Object part segmentation and classification in range images for grasping
Hasegawa et al. Graspfusion: Realizing complex motion by learning and fusing grasp modalities with instance segmentation
Holz et al. Fast edge-based detection and localization of transport boxes and pallets in rgb-d images for mobile robot bin picking
Kundu et al. A novel geometry-based algorithm for robust grasping in extreme clutter environment
Drwięga Features matching based merging of 3D maps in multi-robot systems
Fontana et al. A comparative assessment of parcel box detection algorithms for industrial applications
Wang et al. GraspFusionNet: a two-stage multi-parameter grasp detection network based on RGB–XYZ fusion in dense clutter
Arbeiter et al. Efficient segmentation and surface classification of range images
Jiang et al. A novel occlusion-free active recognition algorithm for objects in clutter
Bergström et al. Integration of visual cues for robotic grasping
Bhuyan et al. Structure‐aware multiple salient region detection and localization for autonomous robotic manipulation
Kundu et al. A novel method for finding grasping handles in a clutter using RGBD Gaussian mixture models
Asif et al. Model-free segmentation and grasp selection of unknown stacked objects
Yamada et al. Pose estimation of a simple-shaped object based on poseclass using RGBD camera