A Comprehensive Study of 3-D Vision-Based Robot Manipulation | |
Cong Y(丛杨)2,3; Chen RH(陈荣瀚)2,3,4; Ma BT(马兵涛)2,3,4; Liu HS(刘洪森)1; Hou DD(侯冬冬)2,3,4; Yang, Chenguang5 | |
刊名 | IEEE Transactions on Cybernetics |
2021 | |
页码 | 1-17 |
关键词 | 3-D object recognition grasping estimation motion planning pose estimation robot manipulation |
ISSN号 | 2168-2267 |
产权排序 | 1 |
英文摘要 | Robot manipulation, for example, pick-and-place manipulation, is broadly used for intelligent manufacturing with industrial robots, ocean engineering with underwater robots, service robots, or even healthcare with medical robots. Most traditional robot manipulations adopt 2-D vision systems with plane hypotheses and can only generate 3-DOF (degrees of freedom) pose accordingly. To mimic human intelligence and endow the robot with more flexible working capabilities, 3-D vision-based robot manipulation has been studied. However, this task is still challenging in the open world especially for general object recognition and pose estimation with occlusion in cluttered backgrounds and human-like flexible manipulation. In this article, we propose a comprehensive analysis of recent progress about the 3-D vision for robot manipulation, including 3-D data acquisition and representation, robot-vision calibration, 3-D object detection/recognition, 6-DOF pose estimation, grasping estimation, and motion planning. We then present some public datasets, evaluation criteria, comparisons, and challenges. Finally, the related application domains of robot manipulation are given, and some future directions and open problems are studied as well. |
资助项目 | National Key Research and Development Program of China[2019YFB1310300] ; NSFC[61821005] ; NSFC[61722311] |
WOS关键词 | 3D OBJECT RECOGNITION ; POSE ESTIMATION ; GRASP ; REGISTRATION ; EXPLORATION ; VERSATILE ; ALGORITHM ; FEATURES ; DATASET ; SYSTEMS |
WOS研究方向 | Automation & Control Systems ; Computer Science |
语种 | 英语 |
WOS记录号 | WOS:000732275300001 |
资助机构 | National Key Research and Development Program of China under Grant 2019YFB1310300 ; NSFC under Grant 61821005 and Grant 61722311 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/29693] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Cong Y(丛杨) |
作者单位 | 1.JD.com, Inc., Beijing 100176, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 4.University of Chinese Academy of Sciences, Beijing 100049, China 5.School of Automation Science and Engineering, South China University of Technology, Guangzhou 510641, China |
推荐引用方式 GB/T 7714 | Cong Y,Chen RH,Ma BT,et al. A Comprehensive Study of 3-D Vision-Based Robot Manipulation[J]. IEEE Transactions on Cybernetics,2021:1-17. |
APA | Cong Y,Chen RH,Ma BT,Liu HS,Hou DD,&Yang, Chenguang.(2021).A Comprehensive Study of 3-D Vision-Based Robot Manipulation.IEEE Transactions on Cybernetics,1-17. |
MLA | Cong Y,et al."A Comprehensive Study of 3-D Vision-Based Robot Manipulation".IEEE Transactions on Cybernetics (2021):1-17. |
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