Visual servoing on unknown objects

被引：17
|
作者：
Gratal, Xavi [1 ]
Romero, Javier [1 ]
Bohg, Jeannette [1 ]
Kragic, Danica [1 ]
机构：
[1] Royal Inst Technol, Sch Comp Sci & Commun, Ctr Autonomous Syst, Comp Vis & Act Percept Lab, S-10044 Stockholm, Sweden
来源：
MECHATRONICS | 2012年 / 22卷 / 04期
关键词：
Visual servoing; Object grasping; Calibration; Active vision; TRACKING; INTEGRATION;
D O I：
10.1016/j.mechatronics.2011.09.009
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We study visual servoing in a framework of detection and grasping of unknown objects. Classically, visual servoing has been used for applications where the object to be servoed on is known to the robot prior to the task execution. In addition, most of the methods concentrate on aligning the robot hand with the object without grasping it. In our work, visual servoing techniques are used as building blocks in a system capable of detecting and grasping unknown objects in natural scenes. We show how different visual servoing techniques facilitate a complete grasping cycle. (C) 2011 Elsevier Ltd. All rights reserved.
引用
收藏
页码：423 / 435
页数：13
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