Localizing Handle-Like Grasp Affordances in 3D Point Clouds
| Autor: | Robert W. Platt, Andreas ten Pas |
|---|---|
| Rok vydání: | 2015 |
| Předmět: |
0209 industrial biotechnology
020901 industrial engineering & automation Computer science Human–computer interaction GRASP 0202 electrical engineering electronic engineering information engineering Point cloud Robot 020207 software engineering 02 engineering and technology Set (psychology) Affordance |
| Zdroj: | Experimental Robotics ISBN: 9783319237770 ISER |
| DOI: | 10.1007/978-3-319-23778-7_41 |
| Popis: | We propose a new approach to localizing handle-like grasp affordances in 3-D point clouds. The main idea is to identify a set of sufficient geometric conditions for the existence of a grasp affordance and to search the point cloud for neighborhoods that satisfy these conditions. Our goal is not to find all possible grasp affordances, but instead to develop a method of localizing important types of grasp affordances quickly and reliably. The strength of this method relative to other current approaches is that it is very practical: it can have good precision/recall for the types of affordances under consideration, it runs in real-time, and it is easy to adapt to different robots and operating scenarios. We validate with a set of experiments where the approach is used to enable the Rethink Baxter robot to localize and grasp unmodelled objects. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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