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Autonomous underwater grasping using multi-view laser reconstruction
dc.contributor.author | Peñalver Monfort, Antonio | |
dc.contributor.author | Fernández Fresneda, José Javier | |
dc.contributor.author | Sanz, Pedro J | |
dc.date.accessioned | 2018-06-11T14:49:00Z | |
dc.date.available | 2018-06-11T14:49:00Z | |
dc.date.issued | 2017-06 | |
dc.identifier.citation | A. Peñalver, J. J. Fernández and P. J. Sanz, "Autonomous underwater grasping using multi-view laser reconstruction," OCEANS 2017 - Aberdeen, Aberdeen, 2017, pp. 1-5 | ca_CA |
dc.identifier.isbn | 9781509052783 | |
dc.identifier.uri | http://hdl.handle.net/10234/175096 | |
dc.description | Comunicació presentada a Oceans 2017 Conference, Aberdeen, 19-22 June 2017 | ca_CA |
dc.description.abstract | 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. | ca_CA |
dc.language.iso | eng | ca_CA |
dc.publisher | IEEE | ca_CA |
dc.relation.isPartOf | Proceedings Oceans 2017 Conference | ca_CA |
dc.rights | © 2017 IEEE | ca_CA |
dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | * |
dc.title | Autonomous underwater grasping using multi-view laser reconstruction | ca_CA |
dc.type | info:eu-repo/semantics/conferenceObject | ca_CA |
dc.identifier.doi | http://dx.doi.org/10.1109/OCEANSE.2017.8084797 | |
dc.relation.projectID | Spanish Ministry of Economy and Competitiveness under grant DPI2014-57746-C3 (MERBOTS Project), Generalitat Valenciana PhD grant ACIF/2014/298, PROMETEO/2016/066 grant | ca_CA |
dc.rights.accessRights | info:eu-repo/semantics/restrictedAccess | ca_CA |
dc.relation.publisherVersion | https://ieeexplore.ieee.org/document/8084797/ | ca_CA |
dc.type.version | info:eu-repo/semantics/publishedVersion | ca_CA |
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