Object detection methods for robot grasping: Experimental assessment and tuning
Channel: Institut de Robòtica i Informàtica Industrial, CSIC-UPC
Date: 2013-04-24

More info: 
http://www.iri.upc.edu/publications/show/1351

Authors: F. Rigual, A. Ramisa, G. Alenyà, C. Torras
Conference: 15th International Conference of the Catalan Association for Artificial Intelligence (CCIA)

Voice: F. Rigual

This work is the result of a Last Year Project (PFC):http://www.iri.upc.edu/pfc/show/102

Abstract: In this work we address the problem of object detection for the purpose of object manipulation in a service robotics scenario. Several implementations of state-of-the-art object detection methods were tested, and the one with the best performance was selected. During the evaluation, three main practical limitations of current methods were identified in relation with long-range object detection, grasping point detection and automatic learning of new objects; and practical solutions are proposed for the last two. Finally, the complete pipeline is evaluated in a real grasping experiment.