An RGB-D Visual Application for Error Detection in Robot Grasping Tasks
| Autor: | David Fischinger, Angel P. del Pobil, Ester Martinez-Martin, Markus Vincze |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science GRASP 02 engineering and technology Two stages 020901 industrial engineering & automation Robustness (computer science) 0202 electrical engineering electronic engineering information engineering RGB color model Robot 020201 artificial intelligence & image processing Computer vision Artificial intelligence Error detection and correction business Sensory cue |
| Zdroj: | Intelligent Autonomous Systems 14 ISBN: 9783319480350 IAS |
| DOI: | 10.1007/978-3-319-48036-7_18 |
| Popis: | The ability to grasp is a fundamental requirement for service robots in order to perform meaningful tasks in ordinary environments. However, its robustness can be compromised by the inaccuracy (or lack) of tactile and proprioceptive sensing, especially in the presence of unforeseen slippage. As a solution, vision can be instrumental in detecting grasp errors. In this paper, we present an RGB-D visual application for discerning the success or failure in robot grasping of unknown objects, when a poor proprioceptive information and/or a deformable gripper without tactile information is used. The proposed application is divided into two stages: the visual gripper detection and recognition, and the grasping assessment (i.e. checking whether a grasping error has occurred). For that, three different visual cues are combined: colour, depth and edges. This development is supported by the experimental results on the Hobbit robot which is provided with an elastically deformable gripper. |
| Databáze: | OpenAIRE |
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