Grasping region identification in novel objects using microsoft kinect

  • Authors:

  • Akshara Rai;Prem Kumar Patchaikani;Mridul Agarwal;Rohit Gupta;Laxmidhar Behera

  • Affiliations:

  • Department of Electrical Engineering, Indian Institute of Technology Kanpur, India;Department of Electrical Engineering, Indian Institute of Technology Kanpur, India;Department of Electrical Engineering, Indian Institute of Technology Kanpur, India;Department of Electrical Engineering, Indian Institute of Technology Kanpur, India;Department of Electrical Engineering, Indian Institute of Technology Kanpur, India

  • Venue:
  • ICONIP'12 Proceedings of the 19th international conference on Neural Information Processing - Volume Part IV
  • Year:
  • 2012

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Abstract

We present a novel solution to the problem of robotic grasping of unknown objects using a machine learning framework and a Microsoft Kinect sensor. Using only image features, without the aid of a 3D model of the object, we implement a learning algorithm that identifies grasping regions in 2D images, and generalizes well to objects not encountered previously. Thereafter, we demonstrate the algorithm on the RGB images taken by a Kinect sensor of real life objects. We obtain the 3D world coordinates utilizing the depth sensor of the Kinect. The robot manipulator is then used to grasp the object at the grasping point.