Homography-based grasp tracking for planar objects

被引：3
|
作者：
Carloni, R [1 ]
Recatalá, G [1 ]
Melchiorri, C [1 ]
Sanz, PJ [1 ]
Cervera, E [1 ]
机构：
[1] Univ Bologna, DEIS, Dept Elect Comp Sci & Syst, LAR, I-40136 Bologna, Italy
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
10.1109/ROBOT.2004.1307246
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The visual tracking of grasp points is an essential operation for the execution of an approaching movement of a robot arm to an object: the grasp points are used as features for the definition of the control law. This paper describes a strategy for tracking grasps on planar objects based on the use of a homography. In particular, the homography is used for transferring (translating) a grasp from a view of an object to a second one, providing in this way a correspondence in the second view. The grasp tracking procedure combines the search of a new grasp with the translation and the evaluation of that grasp between object views. Results of the proposed grasp tracking strategy are shown in case of grasps computed for a two-finger and a three-finger gripper.
引用
收藏
页码：795 / 800
页数：6
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