Visibility-based spatial reasoning for object manipulation in cluttered environments

Jang, Hye-Young; Moradi, Hadi; Minh, Phuoc Le; Lee, Sukhan; Han, JungHyun

doi:10.1016/j.cad.2007.12.004

Cited by 10 publications

(7 citation statements)

References 27 publications

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“…Cohen, Chitta, and Likhachev [1] use heuristics and simple motion primitives to tackle the high-dimensional planning problem. Jang et al [2] present visibility-based techniques for real-time planning for object manipulation in cluttered environments. Hirano and Kitahama, and Yoshizawa [3] describe an approach using RRTs to come up with grasps even in cluttered scenes.…”

Section: Related Workmentioning

confidence: 99%

Using manipulation primitives for brick sorting in clutter

Gupta

Sukhatme

2012

2012 IEEE International Conference on Robotics and Automation

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Abstract-This paper explores the idea of manipulationaided perception and grasping in the context of sorting small objects on a tabletop. We present a robust pipeline that combines perception and manipulation to accurately sort Duplo bricks by color and size. The pipeline uses two simple motion primitives to manipulate the scene in ways that help the robot to improve its perception. This results in the ability to sort cluttered piles of Duplo bricks accurately. We present experimental results on the PR2 robot comparing brick sorting without the aid of manipulation to sorting with manipulation primitives that show the benefits of the latter, particularly as the degree of clutter in the environment increases.

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Section: Related Workmentioning

confidence: 99%

Using manipulation primitives for brick sorting in clutter

Gupta

Sukhatme

2012

2012 IEEE International Conference on Robotics and Automation

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“…In fact, active vision (Aloimonos et al, 1988; Bajcsy, 1988) - the use of motion to acquire pertinent sensing information about an environment - is a recurrent theme in robotics. It arises in many applications, for instance, in robotic manipulation (Jang et al, 2008; Motai and Kosaka, 2008), surveillance (Bakhtari et al, 2009; Schroeter et al, 2009), tracking (Barreto et el., 2010), object modeling (Pito, 1999), localization and mapping (Fintrop and Jensfelt, 2008; Kaess and Dellaert, 2010; Zingaretti and Frontoni, 2006), and object recognition (see below), to name but a few. A rich survey of active vision methods used in robotic systems is given in Chen et al (2011).…”

Section: Related Workmentioning

confidence: 99%

Reliable confirmation of an object identity by a mobile robot: A mixed appearance/localization-driven motion approach

Becerra

Valentín-Coronado

Murrieta-Cid

et al. 2016

The International Journal of Robotics Research

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This paper investigates the problem of confirming the identity of a candidate object (expected to be a target based on some crude visual clues) with a mobile robot equipped with visual sensing capabilities. We present a method whose main novelty is to mix localization of the robot relative to the candidate object and to confirm that it is the sought target. This twofold approach drastically reduces false positives. Identity confirmation with this twofold goal is modeled as a Partially-Observable Markov Decision Process, where the states are the cells of the space decomposition. It is solved using Stochastic Dynamic Programming with imperfect state information. A robotic system using this method has been implemented and tests have been carried out both in simulation and with a real robot. The experiments empirically validate the use of various metrics, and demonstrate their ability to perform well in different settings.

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“…The cluttered neighborhood of a target object is delimited by a sphere, named the locality sphere [13,23], the center of which is located at the target object (see Fig. 8).…”

Section: Sift and Planar Feature-based Registration Of Multiple Scenesmentioning

confidence: 99%

“…Therefore, both the access direction and the removal direction are simultaneously determined. See Refs [22,23] for another approach where the removal path is not limited to be the inverse of the access path.…”

Section: Accessibility Analysis and Motion Planningmentioning

confidence: 99%

Toward Human-Like Real-Time Manipulation: From Perception to Motion Planning

et al. 2008

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Human-like behavior is crucial for intelligent service robots that are to perform versatile tasks in day to day life. In this paper, an integrated approach to human-like manipulation is presented, which addresses realtime three-dimensional (3-D) workspace modeling and accessibility analysis for motion planning. The 3-D workspace modeling uses three main principles: identification of global geometric features, substitution of recognized known objects by corresponding solid models in the database and multi-resolution representation of unknown obstacles as required by the task at hand. Accessibility analysis is done through visibility tests. It complements and accelerates general motion planning. The experimental results demonstrate that the human-like behavior-oriented methods are sufficiently fast and robust to model 3-D workspace, and to plan and execute tasks for robotic manipulative applications. Southern California. His research interests include geometric modeling, real-time rendering, and 3-D game design and development. Downloaded by [UNAM Ciudad Universitaria] at 16:35 27 December 2014

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Visibility-based spatial reasoning for object manipulation in cluttered environments

Cited by 10 publications

References 27 publications

Using manipulation primitives for brick sorting in clutter

Using manipulation primitives for brick sorting in clutter

Reliable confirmation of an object identity by a mobile robot: A mixed appearance/localization-driven motion approach

Toward Human-Like Real-Time Manipulation: From Perception to Motion Planning

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