Knowledge Commons of Institute of Automation,CAS
Fast Organization of Objects’ Spatial Positions in Manipulator Space from Single RGB-D Camera | |
Yangchang Sun1,2; Minghao Yang1,2; Jialing Li3; Baohua Qiang3; Jinlong Chen3; Qingyu Jia3 | |
2021-12-08 | |
会议名称 | 第28届神经信息处理国际会议(ICONIP 2021) |
会议日期 | 2021-12-8 |
会议地点 | BALI, Indonesia |
摘要 | For the grasp task in physical environment, it is important for the manipula-tor to know the objects’ spatial positions with as few sensors as possible in real time. This work proposed an effective framework to organize the ob-jects’ spatial positions in the manipulator 3D workspace with a single RGB-D camera robustly and fast. It mainly contains two steps: (1) a 3D reconstruc-tion strategy for objects’ contours obtained in environment; (2) a distance-restricted outlier point elimination strategy to reduce the reconstruction errors caused by sensor noise. The first step ensures fast object extraction and 3D reconstruction from scene image, and the second step contributes to more accurate reconstructions by eliminating outlier points from initial result ob-tained by the first step. We validated the proposed method in a physical sys-tem containing a Kinect 2.0 RGB-D camera and a Mico2 robot. Experiments show that the proposed method can run in quasi real time on a common PC and it outperforms the traditional 3D reconstruction methods. |
关键词 | 3D Reconstruction Real-Time Reconstruction Robot Grasping |
收录类别 | EI |
语种 | 中文 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 计算机图形学与虚拟现实 |
国重实验室规划方向分类 | 虚实融合与迁移学习 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/52204 |
专题 | 脑图谱与类脑智能实验室_微观重建与智能分析 |
通讯作者 | Minghao Yang |
作者单位 | 1.School of Artificial Intelligence, University of Chinese Academy of Sciences 2.Research Center for Brain-inspired Intelligence (BII), Institute of Automation, Chinese Academy of Sciences 3.School of computer science and information security, Guilin university of electronic technology |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Yangchang Sun,Minghao Yang,Jialing Li,等. Fast Organization of Objects’ Spatial Positions in Manipulator Space from Single RGB-D Camera[C],2021. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
paper_ICONIP_2021.pd(3857KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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