Difference between revisions of "Vision-based Navigation and Manipulation"
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* With a stereo vision(passive 3D sensor) and a Jaw-type hand, we studied a method for any unknown object grasping. | * With a stereo vision(passive 3D sensor) and a Jaw-type hand, we studied a method for any unknown object grasping. | ||
* In the context of perception with only one-shot 3D image, three graspable directions such as lift-up, side and frontal direction are suggested, and an affordance-based grasp, handle graspable, is also proposed. | * In the context of perception with only one-shot 3D image, three graspable directions such as lift-up, side and frontal direction are suggested, and an affordance-based grasp, handle graspable, is also proposed. | ||
| + | * https://www.youtube.com/watch?v=YVfTltLy2w0 | ||
* Our grasp directions are as follows: | * Our grasp directions are as follows: | ||
::[[File:grasp directions.jpg|500px|left]] | ::[[File:grasp directions.jpg|500px|left]] | ||
Revision as of 20:38, 26 May 2016
Contents
Concept
- As a map representation, we proposed a hybrid map using object-spatial layout-route information.
- Global localization is based on object recognition and its pose relationship, and our local localization uses 2D-contour matching by 2D laser scanning data.
- Our map representation is like this:
- The Object-based global localization is as follows:
Related papers
Unknown Objects Grasping
Concept
- With a stereo vision(passive 3D sensor) and a Jaw-type hand, we studied a method for any unknown object grasping.
- In the context of perception with only one-shot 3D image, three graspable directions such as lift-up, side and frontal direction are suggested, and an affordance-based grasp, handle graspable, is also proposed.
- https://www.youtube.com/watch?v=YVfTltLy2w0
- Our grasp directions are as follows:
- The schema of our whole grasping process is like this:
