NDLI: Perception and Grasping of Object Parts from Active Robot Exploration

Content Provider	Springer Nature Link
Author	Aleotti, Jacopo Lodi Rizzini, Dario Caselli, Stefa
Copyright Year	2014
Abstract	Like humans, robots that need semantic perception and accurate estimation of the environment can increase their knowledge through active interaction with objects. This paper proposes a novel method for 3D object modeling for a robot manipulator with an eye-in-hand laser range sensor. Since the robot can only perceive the environment from a limited viewpoint, it actively manipulates a target object and generates a complete model by accumulation and registration of partial views. Three registration algorithms are investigated and compared in experiments performed in cluttered environments with complex rigid objects made of multiple parts. A data structure based on proximity graph, that encodes neighborhood relations in range scans, is also introduced to perform efficient range queries. The proposed method for 3D object modeling is applied to perform task-level manipulation. Indeed, once a complete model is available the object is segmented into its constituent parts and categorized. Object sub-parts that are relevant for the task and that afford a grasping action are identified and selected as candidate regions for grasp planning.
Starting Page	401
Ending Page	425
Page Count	25
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	76
Issue Number	3-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2014-03-27
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Active exploration of the environment Range sensing Robot manipulation Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Active Visual Perception for Mobile Robot Localization

Uncertainty-Aware Arm-Base Coordinated Grasping Strategies for Mobile Manipulation

Momentum Transfer from Preshape to Grasping

Towards Small Robot Aided Victim Manipulation

Active SLAM and Exploration with Particle Filters Using Kullback-Leibler Divergence

Toward Aerial Grasping and Manipulation with Multiple UAVs

Learning Novel Objects for Extended Mobile Manipulation

On the Control of Human-Robot Bi-Manual Manipulation

Collaboration in Multi-Robot Exploration: To Meet or not to Meet?

Perception and Grasping of Object Parts from Active Robot Exploration

Similar Documents

Active Visual Perception for Mobile Robot Localization

Uncertainty-Aware Arm-Base Coordinated Grasping Strategies for Mobile Manipulation

Momentum Transfer from Preshape to Grasping

Towards Small Robot Aided Victim Manipulation

Active SLAM and Exploration with Particle Filters Using Kullback-Leibler Divergence

Toward Aerial Grasping and Manipulation with Multiple UAVs

Learning Novel Objects for Extended Mobile Manipulation

On the Control of Human-Robot Bi-Manual Manipulation

Collaboration in Multi-Robot Exploration: To Meet or not to Meet?

Perception and Grasping of Object Parts from Active Robot Exploration