| Autor: |
Kootstra Gert, Popović Mila, Jørgensen Jimmy Alison, Kragic Danica, Petersen Henrik Gordon, Krüger Norbert |
| Jazyk: |
angličtina |
| Rok vydání: |
2012 |
| Předmět: |
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| Zdroj: |
Paladyn, Vol 3, Iss 2, Pp 54-62 (2012) |
| Druh dokumentu: |
article |
| ISSN: |
2081-4836 |
| DOI: |
10.2478/s13230-012-0020-5 |
| Popis: |
We present a database and a software tool, VisGraB, for benchmarking of methods for vision-based grasping of unknown objects with no prior object knowledge. The benchmark is a combined real-world and simulated experimental setup. Stereo images of real scenes containing several objects in different configurations are included in the database. The user needs to provide a method for grasp generation based on the real visual input. The grasps are then planned, executed, and evaluated by the provided grasp simulator where several grasp-quality measures are used for evaluation. This setup has the advantage that a large number of grasps can be executed and evaluated while dealing with dynamics and the noise and uncertainty present in the real world images. VisGraB enables a fair comparison among different grasping methods. The user furthermore does not need to deal with robot hardware, focusing on the vision methods instead. As a baseline, benchmark results of our grasp strategy are included. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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Full text from SpringerLink