Visual perception for the 3D recognition of geometric pieces in robotic manipulation

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Title: Visual perception for the 3D recognition of geometric pieces in robotic manipulation
Authors: Mateo Agulló, Carlos | Gil, Pablo | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal | Universidad de Alicante. Instituto Universitario de Investigación Informática
Keywords: 3D object recognition | 3D shape detection | Pose estimation | Robotic manipulation | Geometric objects | Surfaces
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: Apr-2016
Publisher: Springer London
Citation: International Journal of Advanced Manufacturing Technology. 2016, 83(9): 1999-2013. doi:10.1007/s00170-015-7708-8
Abstract: During grasping and intelligent robotic manipulation tasks, the camera position relative to the scene changes dramatically because the robot is moving to adapt its path and correctly grasp objects. This is because the camera is mounted at the robot effector. For this reason, in this type of environment, a visual recognition system must be implemented to recognize and “automatically and autonomously” obtain the positions of objects in the scene. Furthermore, in industrial environments, all objects that are manipulated by robots are made of the same material and cannot be differentiated by features such as texture or color. In this work, first, a study and analysis of 3D recognition descriptors has been completed for application in these environments. Second, a visual recognition system designed from specific distributed client-server architecture has been proposed to be applied in the recognition process of industrial objects without these appearance features. Our system has been implemented to overcome problems of recognition when the objects can only be recognized by geometric shape and the simplicity of shapes could create ambiguity. Finally, some real tests are performed and illustrated to verify the satisfactory performance of the proposed system.
Sponsor: The research leading to these result has received funding from the Spanish Government and European FEDER funds (DPI2012-32390) and the Valencia Regional Government (PROMETEO/2013/085).
ISSN: 0268-3768 (Print) | 1433-3015 (Online)
DOI: 10.1007/s00170-015-7708-8
Language: eng
Type: info:eu-repo/semantics/article
Rights: © Springer-Verlag London 2015. The final publication is available at Springer via
Peer Review: si
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