Computational geometry: algorithms and applications
Computational geometry: algorithms and applications
Boosting combinatorial search through randomization
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Optimized view frustum culling algorithms for bounding boxes
Journal of Graphics Tools
Introductory Techniques for 3-D Computer Vision
Introductory Techniques for 3-D Computer Vision
IEEE Transactions on Robotics
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This paper presents a motion planning algorithm for industrial manipulators with the simultaneous constraints of avoiding collisions and avoiding the occlusion of specified pixellated regions of an eye-to-hand camera. The system uses a probabilistic roadmap to satisfy the constraints imposed by the command interface of typical industrial manipulators and uses dynamic collision checking to ensure collision-free motion. In the context of a task monitored by a camera, we enhance a probabilistic roadmap with a dynamic occlusion checking algorithm that is able to determine which pixels of the camera are occluded by the robot during each motion segment. The occlusion algorithm is formulated as collision algorithm where the field of view of the camera is represented as a quadtree of frustums. The proposed algorithm is demonstrated in industrial bin picking simulations where the gripper must not occlude the targeted object throughout the task.