Autonomous underwater grasping using multi-view laser reconstruction
Impacto
Scholar |
Otros documentos de la autoría: Peñalver Monfort, Antonio; Fernández Fresneda, José Javier; Sanz, Pedro J
Metadatos
Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/146069
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INVESTIGACIONEste recurso está restringido
http://dx.doi.org/10.1109/OCEANSE.2017.8084797 |
Metadatos
Título
Autonomous underwater grasping using multi-view laser reconstructionFecha de publicación
2017-06Editor
IEEEISBN
9781509052783Cita bibliográfica
A. Peñalver, J. J. Fernández and P. J. Sanz, "Autonomous underwater grasping using multi-view laser reconstruction," OCEANS 2017 - Aberdeen, Aberdeen, 2017, pp. 1-5Tipo de documento
info:eu-repo/semantics/conferenceObjectVersión de la editorial
https://ieeexplore.ieee.org/document/8084797/Versión
info:eu-repo/semantics/publishedVersionResumen
Autonomous manipulation in underwater scenarios is a highly complex task which is still poorly studied, but with a growing interest in the last years. Two of the main phases of this problem are the detection and ... [+]
Autonomous manipulation in underwater scenarios is a highly complex task which is still poorly studied, but with a growing interest in the last years. Two of the main phases of this problem are the detection and characterization of the object which is going to be manipulated, and the planning of this manipulation. This paper presents, on the one hand, the results of a multi-view laser reconstruction approach used in a real system. This approach consists in attaching a laser emitter and a camera in the forearm of a robotic arm. Then, moving the arm, the scene is scanned and reconstructed. This configuration allows the user to reconstruct autonomously a scene from different points of view and with a high precision. On the other hand, a grasp planning algorithm has been described. This method makes possible to autonomously detect the object of interest from a scene with multiple objects, and to choose which is the best arm configuration in order to manipulate it. [-]
Descripción
Comunicació presentada a Oceans 2017 Conference, Aberdeen, 19-22 June 2017