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Object detection methods for robot grasping: Experimental assessment and tuning
Rigual Aparici, Ferran; Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Torras, Carme
Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
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.
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robot vision
manipulators object detection robot vision PARAULES AUTOR: object detection
grasping
robotics
Visió artificial (Robòtica)
Classificació INSPEC::Automation::Robots::Robot vision
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
Artículo - Borrador
info:eu-repo/semantics/conferenceObject
IOS Press
         

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