Fusing visual and tactile sensing for 3-D object reconstruction while grasping

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 3547-3554

  Ilonen, Jarmo ^a   Bohg, Jeannette ^b   Kyrki, Ville ^c  

^a LAPPEENRANTA UNIVERSITY OF TECHNOLOGY   (Finland)

^b MAX PLANCK INSTITUTE FOR INTELLIGENT SYSTEMS   (Germany)

^c AALTO UNIVERSITY   (Finland)

Author keywords

[No Author keywords available]

Indexed keywords

3-D OBJECT RECONSTRUCTION; ESTIMATION PROBLEM; ITERATIVE EXTENDED KALMAN FILTER; OPTIMAL ESTIMATIONS; ROBOTIC MANIPULATORS; ROBOTIC PLATFORMS; SYMMETRY PARAMETER; TACTILE INFORMATION;

ROBOTICS;

THREE DIMENSIONAL;

EID: 84887288261     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6631074     Document Type: Conference Paper

References (23)

1. P.Allen.Surface descriptions from vision and touch.In IEEE Int.Conf.on Robotics and Automation (ICRA, volume 1, pages 394-397, mar 1984.
2. P.Allen.Integrating vision and touch for object recognition tasks.Int.Jour.of Robotics Research (IJRR), 7(6):15-33, 1988.
3. A.Bierbaum, M.Rambow, T.Asfour, and R.Dillmann.A potential field approach to dexterous tactile exploration of unknown objects.In IEEE-RAS Int.Conf.on Humanoid Robots (Humanoids), pages 360-366, dec.2008.
4. M.Bjorkman and D.Kragic.Active 3d scene segmentation and detection of unknown objects.In IEEE Int.Conf.on Robotics and Automation (ICRA), pages 3114-3120, 2010.
5. J.Bohg, M.Johnson-Roberson, B.Leon, J.Felip, X.Gratal, N.Bergstrom, D.Kragic, and A.Morales.Mind the gap-robotic grasping under incomplete observation.In IEEE Int.Conf.on Robotics and Automation (ICRA), pages 686-693, may 2011.
6. G.M.Bone, A.Lambert, and M.Edwards.Automated Modelling and Robotic Grasping of Unknown Three-Dimensional Objects.In IEEE Int.Conf.on Robotics and Automation (ICRA), pages 292-298, Pasadena, CA, USA, May 2008.
7. C.Colombo, A.Del Bimbo, and F.Pernici.Metric 3d reconstruction and texture acquisition of surfaces of revolution from a single uncalibrated view.IEEE Trans.on Pattern Analysis and Machine Intelligence (PAMI), 27(1):99-114, jan.2005.
8. S.Dragiev, M.Toussaint, and M.Gienger.Gaussian process implicit surfaces for shape estimation and grasping.In IEEE Int.Conf.on Robotics and Automation (ICRA), pages 2845-2850, may 2011.
9. R.Hartley and A.Zisserman.Multiple View Geometry in Computer Vision, 2nd.edition.Cambridge University Press, 2003.
10. J.Ilonen and V.Kyrki.Robust robot-camera calibration.In Int.Conf.on Advanced Robotics (ICAR), pages 67-74, Estonia, 2011.
11. Y.Jiang, S.Moseson, and A.Saxena.Efficient grasping from rgbd images: Learning using a new rectangle representation.In IEEE Int.Conf.on Robotics and Automation (ICRA), pages 3304-3311, may 2011.
12. D.Lee, M.Hebert, and T.Kanade.Geometric reasoning for single image structure recovery.In IEEE Conf.on Computer Vision and Pattern Recognition (CVPR), pages 2136-2143, june 2009.
13. V.Lippiello, F.Ruggiero, B.Siciliano, and L.Villani.Visual grasp planning for unknown objects using a multifingered robotic hand.Mechatronics, IEEE/ASME Transactions on, 18(3):1050-1059, June 2013.
14. Z.C.Marton, D.Pangercic, N.Blodow, and M.Beetz.Combined 2D-3D Categorization and Classification for Multimodal Perception Systems.Int.Jour.of Robotics Research (IJRR), 2011.
15. M.Meier, M.Schopfer, R.Haschke, and H.Ritter.A probabilistic approach to tactile shape reconstruction.IEEE Trans.on Robotics (T-RO), 27(3):630-635, june 2011.
16. S.Natarajan, D.Ristic-Durrant, A.Leu, and A.Graser.Robust stereovision based 3d modelling of real-world objects for assistive robotic applications.In IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS), pages 786-792, sept.2011.
17. M.Popovic, G.Kootstra, J.A.Jorgensen, D.Kragic, and N.Kruger.Grasping unknown objects using an early cognitive vision system for general scene understanding.In Int.Conf.on Intelligent Robots and Systems (IROS), 2011.
18. A.Saxena, J.Driemeyer, and A.Y.Ng.Robotic grasping of novel objects using vision.Int.Jour.of Robotics Research (IJRR), 27(2):157-173, 2008.
19. D.Simon.Optimal State Estimation.John Wiley &Sons, 2006.
20. G.Taubin.Estimation of planar curves, surfaces, and nonplanar space curves defined by implicit equations with applications to edge and range image segmentation.IEEE Trans.on Pattern Analysis and Machine Intelligence (PAMI), 13(11):1115-1138, nov 1991.
21. S.Thrun and B.Wegbreit.Shape from symmetry.In IEEE Int.Conf.on Computer Vision (ICCV), volume 2, pages 1824-1831, Los Alamitos, CA, USA, 2005.IEEE Computer Society.
22. T.Xue, J.Liu, and X.Tang.Symmetric piecewise planar object reconstruction from a single image.In IEEE Conf.on Computer Vision and Pattern Recognition (CVPR), pages 2577-2584, june 2011.
23. Y.Yamada, A.Ishiguro, and Y.Uchikawa.A method of 3d object reconstruction by fusing vision with touch using internal models with global and local deformations.In IEEE Int.Conf.on Robotics and Automation (ICRA), pages 782-787 vol.2, may 1993.