An introduction to ray tracing
An introduction to ray tracing
Robot grasp synthesis algorithms: a survey
International Journal of Robotics Research
Probabilistic Modeling of Local Appearance and Spatial Relationships for Object Recognition
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
High speed obstacle avoidance using monocular vision and reinforcement learning
ICML '05 Proceedings of the 22nd international conference on Machine learning
3-D Depth Reconstruction from a Single Still Image
International Journal of Computer Vision
Peripheral-foveal vision for real-time object recognition and tracking in video
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Depth estimation using monocular and stereo cues
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
IEEE Transactions on Robotics
Manipulation of unmodeled objects using intelligent grasping schemes
IEEE Transactions on Fuzzy Systems
Hand Posture Subspaces for Dexterous Robotic Grasping
International Journal of Robotics Research
A fast data collection and augmentation procedure for object recognition
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
Learning grasp strategies with partial shape information
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
Foundations and Trends in Robotics
A framework for compliant physical interaction
Autonomous Robots
HERB: a home exploring robotic butler
Autonomous Robots
Generality and legibility in mobile manipulation
Autonomous Robots
Contact sensing and grasping performance of compliant hands
Autonomous Robots
3D model selection from an internet database for robotic vision
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
1000 trials: an empirically validated end effector that robustly grasps objects from the floor
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Reactive grasping using optical proximity sensors
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Learning 3-D object orientation from images
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Joint calibration of multiple sensors
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A hybrid approach for grasping 3D objects
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Data-driven grasping with partial sensor data
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A new strategy combining empirical and analytical approaches for grasping unknown 3D objects
Robotics and Autonomous Systems
Functional object class detection based on learned affordance cues
ICVS'08 Proceedings of the 6th international conference on Computer vision systems
Learning to grasp unknown objects based on 3D edge information
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Object Recognition in 3D Point Clouds Using Web Data and Domain Adaptation
International Journal of Robotics Research
Using multi-modal 3D contours and their relations for vision and robotics
Journal of Visual Communication and Image Representation
Visual object-action recognition: Inferring object affordances from human demonstration
Computer Vision and Image Understanding
Learning visual representations for perception-action systems
International Journal of Robotics Research
Autonomous Robots
Preference-based policy learning
ECML PKDD'11 Proceedings of the 2011 European conference on Machine learning and knowledge discovery in databases - Volume Part I
Towards cognitive grasping: modeling of unknown objects and its corresponding grasp types
Intelligent Service Robotics
Learning spatial relationships between objects
International Journal of Robotics Research
Manipulator and object tracking for in-hand 3D object modeling
International Journal of Robotics Research
Combined 2D-3D categorization and classification for multimodal perception systems
International Journal of Robotics Research
Scene parsing using a prior world model
International Journal of Robotics Research
An overview of 3D object grasp synthesis algorithms
Robotics and Autonomous Systems
Efficient models for grasp planning with a multi-fingered hand
Robotics and Autonomous Systems
BADGr-A toolbox for box-based approximation, decomposition and GRasping
Robotics and Autonomous Systems
Active learning of visual descriptors for grasping using non-parametric smoothed beta distributions
Robotics and Autonomous Systems
Image-Based grasping point detection using boosted histograms of oriented gradients
ICIAR'10 Proceedings of the 7th international conference on Image Analysis and Recognition - Volume Part I
Autonomous manipulation with a general-purpose simple hand
International Journal of Robotics Research
Learning to place new objects in a scene
International Journal of Robotics Research
Enabling grasping of unknown objects through a synergistic use of edge and surface information
International Journal of Robotics Research
Grasping region identification in novel objects using microsoft kinect
ICONIP'12 Proceedings of the 19th international conference on Neural Information Processing - Volume Part IV
An automated picking workstation for healthcare applications
Computers and Industrial Engineering
Graspable parts recognition in man-made 3d shapes
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part II
Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments
Robotics and Autonomous Systems
Design of a flexible tactile sensor for classification of rigid and deformable objects
Robotics and Autonomous Systems
Autonomously learning to visually detect where manipulation will succeed
Autonomous Robots
Learning of grasp selection based on shape-templates
Autonomous Robots
Stable grasping under pose uncertainty using tactile feedback
Autonomous Robots
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We consider the problem of grasping novel objects, specifically objects that are being seen for the first time through vision. Grasping a previously unknown object, one for which a 3-d model is not available, is a challenging problem. Furthermore, even if given a model, one still has to decide where to grasp the object. We present a learning algorithm that neither requires nor tries to build a 3-d model of the object. Given two (or more) images of an object, our algorithm attempts to identify a few points in each image corresponding to good locations at which to grasp the object. This sparse set of points is then triangulated to obtain a 3-d location at which to attempt a grasp. This is in contrast to standard dense stereo, which tries to triangulate every single point in an image (and often fails to return a good 3-d model). Our algorithm for identifying grasp locations from an image is trained by means of supervised learning, using synthetic images for the training set. We demonstrate this approach on two robotic manipulation platforms. Our algorithm successfully grasps a wide variety of objects, such as plates, tape rolls, jugs, cellphones, keys, screwdrivers, staplers, a thick coil of wire, a strangely shaped power horn and others, none of which were seen in the training set. We also apply our method to the task of unloading items from dishwashers.