Integration of Visual Cues for Robotic Grasping

Authors:
Niklas Bergström;Jeannette Bohg;Danica Kragic
Affiliations:
Computer Vision and Active Vision Laboratory, Centre for Autonomous System, Royal Institute of Technology, Stockholm, Sweden;Computer Vision and Active Vision Laboratory, Centre for Autonomous System, Royal Institute of Technology, Stockholm, Sweden;Computer Vision and Active Vision Laboratory, Centre for Autonomous System, Royal Institute of Technology, Stockholm, Sweden
Venue:
ICVS '09 Proceedings of the 7th International Conference on Computer Vision Systems: Computer Vision Systems
Year:
2009

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Abstract

In this paper, we propose a method that generates grasping actions for novel objects based on visual input from a stereo camera. We are integrating two methods that are advantageous either in predicting how to grasp an object or where to apply a grasp. The first one reconstructs a wire frame object model through curve matching. Elementary grasping actions can be associated to parts of this model. The second method predicts grasping points in a 2D contour image of an object. By integrating the information from the two approaches, we can generate a sparse set of full grasp configurations that are of a good quality. We demonstrate our approach integrated in a vision system for complex shaped objects as well as in cluttered scenes.