Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments

Stückler, Jörg; Steffens, Ricarda; Holz, Dirk; Behnke, Sven

doi:10.1016/j.robot.2012.08.003

Cited by 41 publications

(26 citation statements)

References 26 publications

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“…Our plane segmentation algorithm rapidly estimates normals from the depth images of the RGB-D camera and fits a horizontal plane through the points with roughly vertical normals by RANSAC (Stückler et al, 2013b). The points above the detected support plane are grouped to object candidates based on Euclidean distance.…”

Section: Object Segmentationmentioning

confidence: 99%

“…The remaining grasps are ranked according to efficiency and robustness criteria. The best grasp is selected and finally executed with a parametrized motion We rank feasible, collision-free grasps (red, size proportional to score), and select the most appropriate one (large, RGB-coded) (Stückler et al, 2013b). (c) Example side grasp.…”

Section: Object Grasping and Placementmentioning

confidence: 99%

“…For collision detection, we take a conservative but efficient approach that checks simplified geometric constraints. Further details are provided by Stückler et al (2013b). For 3D modeled objects, which are tracked using the method described in Section 6.1.5, we define reference poses for grasping them with one or two hands for their task-specific usage (see Figure 8D, bottom).…”

Section: Object Grasping and Placementmentioning

confidence: 99%

See 2 more Smart Citations

Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero

2016

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Cognitive service robots that shall assist persons in need of performing their activities of daily living have recently received much attention in robotics research. Such robots require a vast set of control and perception capabilities to provide useful assistance through mobile manipulation and human-robot interaction. In this article, we present hardware design, perception, and control methods for our cognitive service robot Cosero. We complement autonomous capabilities with handheld teleoperation interfaces on three levels of autonomy. The robot demonstrated various advanced skills, including the use of tools. With our robot, we participated in the annual international RoboCup@Home competitions, winning them three times in a row.

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Section: Object Segmentationmentioning

confidence: 99%

Section: Object Grasping and Placementmentioning

confidence: 99%

Section: Object Grasping and Placementmentioning

confidence: 99%

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Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero

2016

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“…For the problem of grasping unknown objects, two different strategies have generally been adopted, either feature based methods or shape based method. Examples of feature based approached are [2,[11][12][13][14], where a hand designed grasp hypothesis is proposed given a certain situation. These works stretch from grasp hypotheses based on a single or a combination of two simple features in [2] to grasp hypotheses based on a circle-fitting approach for cylindrical objects [14].…”

Section: Related Work On Computing Grasp Affordancesmentioning

confidence: 99%

“…It should be noted that the comparison operator (<) in equation 7 is an element wise comparison of the distance vector (see equation 13) and the threshold vector (t). For it to be true, all the elementwise comparisons should be true.…”

Section: Neighbourhood Boundarymentioning

confidence: 99%

Identifying relevant feature-action associations for grasping unmodelled objects

Thomsen

Kraft

Krüger

2015

Paladyn, Journal of Behavioral Robotics

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Action affordance learning based on visual sensory information is a crucial problem within the development of cognitive agents. In this paper, we present a method for learning action affordances based on basic visual features, which can vary in their granularity, order of combination and semantic content. The method is provided with a large and structured set of visual features, motivated by the visual hierarchy in primates and finds relevant feature action associations automatically. We apply our method in a simulated environment on three different object sets for the case of grasp affordance learning. For box objects, we achieve a 0.90 success probability, 0.80 for round objects and up to 0.75 for open objects, when presented with novel objects. In this work, we demonstrate, in particular, the effect of choosing appropriate feature representations. We demonstrate a significant performance improvement by increasing the complexity of the perceptual representation. By that, we present important insights in how the design of the feature space influences the actual learning problem.

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NimbRo Explorer: Semiautonomous Exploration and Mobile Manipulation in Rough Terrain

Stückler

Schwarz

Schadler

et al. 2015

Journal of Field Robotics

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Fully autonomous exploration and mobile manipulation in rough terrain are still beyond the state of the art—robotics challenges and competitions are held to facilitate and benchmark research in this direction. One example is the 2013 DLR SpaceBot Cup, for which we developed an integrated robot system to semiautonomously perform planetary exploration and manipulation tasks. Our robot explores, maps, and navigates in previously unknown, uneven terrain using a three‐dimensional laser scanner and an omnidirectional RGB‐D camera. We developed manipulation capabilities for object retrieval and pick‐and‐place tasks. Many parts of the mission can be performed autonomously. In addition, we developed teleoperation interfaces on different levels of shared autonomy, which allow for specifying missions, monitoring mission progress, and on‐the‐fly reconfiguration. To handle network communication interruptions and latencies between robot and operator station, we implemented a robust network layer for the middleware Robot Operating System (ROS). The integrated system has been demonstrated at the 2013 DLR SpaceBot Cup. In addition, we conducted systematic experiments to evaluate the performance of our approaches.

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Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments

Cited by 41 publications

References 26 publications

Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero

Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero

Identifying relevant feature-action associations for grasping unmodelled objects

NimbRo Explorer: Semiautonomous Exploration and Mobile Manipulation in Rough Terrain

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