Grasping unknown objects using an early cognitive vision system for general scene understanding

Mila Popović; Gert Kootstra; Jimmy Alison Jørgensen; Danica Kragic; Norbert Krüger

doi:10.1109/IROS.2011.6048619

Grasping unknown objects using an early cognitive vision system for general scene understanding

Mila Popović^*, Gert Kootstra, Jimmy Alison Jørgensen, Danica Kragic, Norbert Krüger

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › Academic › peer-review

49 Citations (Scopus)

Abstract

Grasping unknown objects based on real-world visual input is a challenging problem. In this paper, we present an Early Cognitive Vision system that builds a hierarchical representation based on edge and texture information, which is a sparse but powerful description of the scene. Based on this representation we generate edge-based and surface-based grasps. The results show that the method generates successful grasps, that the edge and surface information are complementary, and that the method can deal with more complex scenes. We furthermore present a benchmark for visual-based grasping.

Original language	English
Title of host publication	IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Celebrating 50 Years of Robotics
Publisher	IEEE
Pages	987-994
Number of pages	8
ISBN (Print)	9781612844541
DOIs	https://doi.org/10.1109/IROS.2011.6048619
Publication status	Published - 29 Dec 2011
Externally published	Yes
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: 25 Sept 2011 → 30 Sept 2011

Conference

Conference	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/Territory	United States
City	San Francisco, CA
Period	25/09/11 → 30/09/11

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10.1109/IROS.2011.6048619

Cite this

Popović, M., Kootstra, G., Jørgensen, J. A., Kragic, D., & Krüger, N. (2011). Grasping unknown objects using an early cognitive vision system for general scene understanding. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 987-994). Article 6048619 IEEE. https://doi.org/10.1109/IROS.2011.6048619

@inproceedings{ae7b4e41d7af464c90f731c375a2ed63,

title = "Grasping unknown objects using an early cognitive vision system for general scene understanding",

abstract = "Grasping unknown objects based on real-world visual input is a challenging problem. In this paper, we present an Early Cognitive Vision system that builds a hierarchical representation based on edge and texture information, which is a sparse but powerful description of the scene. Based on this representation we generate edge-based and surface-based grasps. The results show that the method generates successful grasps, that the edge and surface information are complementary, and that the method can deal with more complex scenes. We furthermore present a benchmark for visual-based grasping.",

author = "Mila Popovi{\'c} and Gert Kootstra and J{\o}rgensen, {Jimmy Alison} and Danica Kragic and Norbert Kr{\"u}ger",

year = "2011",

month = dec,

day = "29",

doi = "10.1109/IROS.2011.6048619",

language = "English",

isbn = "9781612844541",

pages = "987--994",

booktitle = "IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

address = "United States",

note = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 ; Conference date: 25-09-2011 Through 30-09-2011",

}

Popović, M, Kootstra, G, Jørgensen, JA, Kragic, D & Krüger, N 2011, Grasping unknown objects using an early cognitive vision system for general scene understanding. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048619, IEEE, pp. 987-994, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 25/09/11. https://doi.org/10.1109/IROS.2011.6048619

Grasping unknown objects using an early cognitive vision system for general scene understanding. / Popović, Mila; Kootstra, Gert; Jørgensen, Jimmy Alison et al.
IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. IEEE, 2011. p. 987-994 6048619.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › Academic › peer-review

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T1 - Grasping unknown objects using an early cognitive vision system for general scene understanding

AU - Popović, Mila

AU - Kootstra, Gert

AU - Jørgensen, Jimmy Alison

AU - Kragic, Danica

AU - Krüger, Norbert

PY - 2011/12/29

Y1 - 2011/12/29

N2 - Grasping unknown objects based on real-world visual input is a challenging problem. In this paper, we present an Early Cognitive Vision system that builds a hierarchical representation based on edge and texture information, which is a sparse but powerful description of the scene. Based on this representation we generate edge-based and surface-based grasps. The results show that the method generates successful grasps, that the edge and surface information are complementary, and that the method can deal with more complex scenes. We furthermore present a benchmark for visual-based grasping.

AB - Grasping unknown objects based on real-world visual input is a challenging problem. In this paper, we present an Early Cognitive Vision system that builds a hierarchical representation based on edge and texture information, which is a sparse but powerful description of the scene. Based on this representation we generate edge-based and surface-based grasps. The results show that the method generates successful grasps, that the edge and surface information are complementary, and that the method can deal with more complex scenes. We furthermore present a benchmark for visual-based grasping.

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M3 - Conference paper

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EP - 994

BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11

Y2 - 25 September 2011 through 30 September 2011

ER -

Grasping unknown objects using an early cognitive vision system for general scene understanding

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