Fast Organization of Objects’ Spatial Positions in Manipulator Space from Single RGB-D Camera | |
Yangchang Sun2,3; Minghao Yang2,3; Jialing Li1; Baohua Qiang1; Jinlong Chen1; Qingyu Jia1 | |
2021-12-08 | |
会议日期 | 2021-12-8 |
会议地点 | BALI, Indonesia |
关键词 | 3D Reconstruction Real-Time Reconstruction Robot Grasping |
英文摘要 | For the grasp task in physical environment, it is important for the manipula-tor to know the objects’ spatial positions with as few sensors as possible in real time. This work proposed an effective framework to organize the ob-jects’ spatial positions in the manipulator 3D workspace with a single RGB-D camera robustly and fast. It mainly contains two steps: (1) a 3D reconstruc-tion strategy for objects’ contours obtained in environment; (2) a distance-restricted outlier point elimination strategy to reduce the reconstruction errors caused by sensor noise. The first step ensures fast object extraction and 3D reconstruction from scene image, and the second step contributes to more accurate reconstructions by eliminating outlier points from initial result ob-tained by the first step. We validated the proposed method in a physical sys-tem containing a Kinect 2.0 RGB-D camera and a Mico2 robot. Experiments show that the proposed method can run in quasi real time on a common PC and it outperforms the traditional 3D reconstruction methods. |
语种 | 中文 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/52204] |
专题 | 类脑智能研究中心_微观重建与智能分析 |
通讯作者 | Minghao Yang |
作者单位 | 1.School of computer science and information security, Guilin university of electronic technology 2.Research Center for Brain-inspired Intelligence (BII), Institute of Automation, Chinese Academy of Sciences 3.School of Artificial Intelligence, University of Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Yangchang Sun,Minghao Yang,Jialing Li,et al. Fast Organization of Objects’ Spatial Positions in Manipulator Space from Single RGB-D Camera[C]. 见:. BALI, Indonesia. 2021-12-8. |
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