Difference between revisions of "Vision-based Navigation and Manipulation"
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Kistvision (Talk | contribs) (→Concept) |
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==Concept== | ==Concept== | ||
* 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 | + | * 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. |
* Our grasp directions are as follows: | * Our grasp directions are as follows: | ||
Revision as of 20:26, 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.
- Our grasp directions are as follows:
- The schema of our whole grasping process is like this:
