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Towards cognitive grasping: modeling of unknown objects and its corresponding grasp types

INTELLIGENT SERVICE ROBOTICS 2011年第3期4卷 159-166页

作者： Kim, Hyoungnyoun Han, Inkyu You, Bum-Jae Park, Ji-Hyung Korea Inst Sci & Technol Interact & Robot Res Ctr 39-1 Hawolgok Dong Seoul South Korea Univ Sci & Technol Dept HCI & Robot Seoul South Korea

This paper describes an intuitive approach for a cognitive grasp of a robot. The cognitive grasp means the chain of processes that make a robot to learn and execute a grasping method for unknown objects like a human. In the learning step, a robot looks around a target object to estimate the 3d shape and understands the grasp type for the object through a human demonstration. In the execution step, the robot correlates an unknown object to one of known grasp types by comparing the shape similarity of the target object based on previously learned models. For this cognitive grasp, we mainly deal with two functionalities such as reconstructing an unknown 3d object and classifying the object by grasp types. In the experiment, we evaluate the performance of object classification according to the grasp types for 20 objects via human demonstration.

关键词： Robotic grasp 3d object modeling Grasp types object classification Human demonstration

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Integrated View and Path Planning for an Autonomous six-dOF Eye-in-hand object modeling System

Integrated View and Path Planning for an Autonomous six-DOF ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Torabi, Liila Gupta, Kamal Simon Fraser Univ Sch Engn Sci RAMP Lab Burnaby BC V5A 1S6 Canada

ISBN: (纸本)9781424466757

We present an integrated and fully autonomous eye-in-hand system for 3d object modeling. The system hardware consists of a laser range sensor mounted on a six-dOF manipulator arm and the task is to autonomously build 3d model of an object in-situ, i.e., the object may not be moved and must be scanned in its original location. Our system assumes no knowledge of either the object or the rest of the workspace of the robot. The overall planner integrates a next best view (NBV) algorithm along with a sensor-based roadmap planner. Our NBV algorithm while considering the key constraints such as FOV, viewing angle, overlap and occlusion, efficiently searches the five-dimensional view space to determine the best modeling view configuration. The sensor-based roadmap planner determines a collision-free path, to move the manipulator so that the wrist mounted scanner is at the view configuration. If the desired view configurations are not collision free, or there is no free path to reach them, the planner explores the workspace such that facilitates the modeling. This is repeated until the entire object is scanned. We have implemented the system and our results show that system is able to autonomously build a 3d model of an object in an unknown environment.

关键词： 3d object modeling dOF autonomous eye-in-hand system collision avoidance collision-free path dexterous manipulators manipulator arm mobile robots next best view algorithm path planning sensor-based roadmap planner

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Efficient reconstruction from non-uniform point sets

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VISUAL COMPUTER 2008年第7-9期24卷 555-563页

作者： Vucini, Erald Moeller, Torsten Groeller, M. Eduard Vienna Univ Technol Inst Comp Graph & Algorithms A-1040 Vienna Austria Simon Fraser Univ Sch Comp Sci Burnaby BC V5A 1S6 Canada

We propose a method for non-uniform reconstruction of 3d scalar data. Typically, radial basis functions, trigonometric polynomials or shift-invariant functions are used in the functional approximation of 3d data. We adopt a variational approach for the reconstruction and rendering of 3d data. The principle idea is based on data fitting via thin-plate splines. An approximation by B-splines offers more compact support for fast reconstruction. We adopt this method for large datasets by introducing a block-based reconstruction approach. This makes the method practical for large datasets. Our reconstruction will be smooth across blocks. We give reconstruction measurements as error estimations based on different parameter settings and also an insight on the computational effort. We show that the block size used in reconstruction has a negligible effect on the reconstruction error. Finally we show rendering results to emphasize the quality of this 3d reconstruction technique.

关键词： non-uniform reconstruction variational approximation B-splines 3d object modeling

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Efficient reconstruction from non-uniform point sets

Efficient reconstruction from non-uniform point sets

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26th International Conference on Computer Graphics

作者： Vucini, Erald Moeller, Torsten Groeller, M. Eduard Vienna Univ Technol Inst Comp Graph & Algorithms A-1040 Vienna Austria Simon Fraser Univ Sch Comp Sci Burnaby BC V5A 1S6 Canada

关键词： non-uniform reconstruction variational approximation B-splines 3d object modeling

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3d object recognition in cluttered environments by segment-based stereo vision

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INTERNATIONAL JOURNAL OF COMPUTER VISION 2002年第1期46卷 5-23页

作者： Sumi, Y Kawai, Y Yoshimi, T Tomita, F Natl Inst Adv Ind Sci & Technol Intelligent Syst Inst AIST Tsukuba Cent 2 Tsukuba Ibaraki 3058568 Japan

We propose a new method for 3d object recognition which uses segment-based stereo vision. An object is identified in a cluttered environment and its position and orientation (6 dof) are determined accurately enabling a robot to pick up the object and manipulate it. The object can be of any shape (planar figures, polyhedra, free-form objects) and partially occluded by other objects. Segment-based stereo vision is employed for 3d sensing. Both CAd-based and sensor-based object modeling subsystems are available. Matching is performed by calculating candidates for the object position and orientation using local features, verifying each candidate, and improving the accuracy of the position and orientation by an iteration method. Several experimental results are presented to demonstrate the usefulness of the proposed method.

关键词： 3d object recognition free-form objects segment-based stereo vision 3d object modeling 3d shape matching robot vision

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Global shape invariants:: a solution for 3d free-form object discrimination/identification problem

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PATTERN RECOGNITION 2001年第7期34卷 1331-1348页

作者： Adán, A Cerrada, C Feliu, V Univ Castilla La Mancha Escuela Super Informat E-13071 Ciudad Real Spain Univ Nacl Educ Distancia ETSI Ind Madrid 28040 Spain Univ Castilla La Mancha ETSI Ind E-13071 Ciudad Real Spain

A method for solving the 3d object recognition problem is described in this paper. The method uses a new set of global features as discriminant parameters. The general purpose of our approach is to achieve simplicity, speed and efficiency by using global invariants. For this, two new global parameters are introduced, which are invariant to rotation, translation and scaling: canonical length (CL), which provides an indirect measurement of object surface and weighted principal directions (WPds) corresponding to the meaningful normal directions of the object surface. Abundant experimentation has been conducted with a real world system in order to validate the method. (C) 2001 Pattern Recognition Society. Published by Elsevier Science Ltd. All rights reserved.

关键词： Computer vision 3d object modeling Ranges images object recognition 3d object representation

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Three-dimensional model acquisition using rotational stereo and image focus analysis

Three-dimensional model acquisition using rotational stereo ...

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Conference on Machine Vision and 3-dimensional Imaging Systems for Inspection and Metrology

作者： Lin, HY Subbarao, M SUNY Stony Brook Dept Elect & Comp Engn Comp Vis Lab Stony Brook NY 11794 USA

ISBN: (纸本)0819438545

We present a digital vision system for acquiring the complete 3d model of an object from multiple views. The system uses image focus analysis to obtain a rough 3d shape of each view of an object and also the corresponding focused image or texture map. The rough 3d shape is used in a rotational stereo algorithm to obtain a more accurate measurement of 3d shape. The rotational stereo involves rotating the object by a small angle to obtain stereo images. It offers some important advantages compared to conventional stereo. A single camera is used instead of two, the stereo matching is easier as the field of view remains the same for the camera (but the object is rotated), and camera calibration is easier since a single stationary camera is used. The 3d shape and the corresponding texture map are measured for 4 views of the object at 90 degree angular intervals. These partial shapes and texture maps are integrated to obtain a complete 360 degree model of the object. The theory and algorithms underlying rotational-stereo and integration of partial 3d models are presented. The system can acquire the 3d model (which includes the 3d shape and the corresponding image texture) of a simple object within a 300mm x 300mm x 300mm volume placed about 600 mm from the camera. The complete model is displayed using a 3d graphics rendering software (Apple's Quickdraw 3d Viewer). Both computational algorithms and experimental results on several objects are presented.

关键词： 3d object modeling multiple view registration multiple view integration image focus analysis stereo image analysis rotational stereo range image

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Color digitizing and modeling of free-form 3d objects

Color digitizing and modeling of free-form 3D objects

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Conference on 3-dimensional Image Capture and Applications II

作者： Jost, T Schütz, C Hügli, H Univ Neuchatel Inst Microtechnol CH-2000 Neuchatel Switzerland

ISBN: (纸本)0819431117

This paper deals with the problem of capturing the color information of physical 3d objects thanks to a class of digitizers providing color and range data, like range finders based on structured lighting It appears typically in a modeling procedure that aims at building a realistic virtual 3d model. The color data delivered by such scanners basically express the reflected color intensity of the object and not its intrinsic color. A consequence is therefore the existence, on the reconstructed model, of strong color discontinuities, which result from acquisitions done under different illumination conditions. The paper considers three approaches in order to remove these discontinuities and obtain the desired intrinsic color data. The first one converts the reflected color intensity into the intrinsic color by:computation, using a reflectance model and known acquisition parameters. The use of simple reflectance models is considered: Lambert and Phong, respectively for perfectly diffuse and mixed diffuse and specular reflection. The second approach is a hardware solution. It aims at using a nearly constant;diffuse and omnidirectional illumination over the visible parts of the object. A third method combines the first computational approach with the use of several known illumination sources. An experimental comparison of these three approaches is finally presented.

关键词： range image reflectance model color digitizing 3d object modeling

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A method for sharing interactive deformations in collaborative 3d modeling 99

A method for sharing interactive deformations in collaborati...

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Proceedings of the ACM symposium on Virtual reality software and technology

作者： Hiroaki Nishino Kouichi Utsumiya Kazuyoshi Korida Atsunori Sakamoto Kazuyuki Yoshida Dept. of Computer Science and Intelligent Systems Oita University Oita 870-1192 Japan Dept. of Communication Oita Pref. College of Arts and Culture Oita 870-0833 Japan

ISBN: (纸本)9781581131413

This paper proposes a new approach to collaboratively designing original products and crafted objects in a distributed virtual environment. Special attention is paid to concept formulation and image substantiation in the early design stage. A data management strategy and its implementation method are shown to effectively share and visualize a series of shape-forming and modeling operations performed by experts on a network. A 3d object representation technique is devised to manage frequently updated geometrical information by exchanging only a small amount of data among participating systems. Additionally, we contrive a method for offloading some expensive functions usually performed on a server such as multi-resolution data management and adaptive data transmission control. Client systems are delegated to execute these functions and achieve “interactivity vs. image quality” tradeoffs based on available resources and operations in a flexible and parallel fashion.

关键词： collaborative design computer graphics 3d object modeling distributed virtual environment

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Constructing a 3d implicit object modeler by object oriented approach

Constructing a 3D implicit object modeler by object oriented...

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IEEE Conference on Information Visualization

作者： Schroecker, F Luo, YH Tech Univ Braunschweig D-3300 Braunschweig Germany

ISBN: (纸本)0818685093

A real rime 3d object modeler using a small subset of implicit functions for object modeling is described in the paper. It is suitable for 3d soft object modeling. The models can be created interactively while they are being rendered. This overcomes the traditional difficulty of applying implicit function in real rime object modeling. The modeler is implemented using object oriented programming techniques on SGI's using Open Inventor. object-oriented design patterns have been used to form the overall modeler environment. The layout of the modeler can be formed by editing our script language without compilation. The object models created are compatible with VRML format.

关键词： 3d object modeling application of implicit function fundamentals of graphics & visualization objected oriented programming design patterns

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