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 proceedingConference paperAcademicpeer-review

39 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 languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
PublisherIEEE Xplore
Pages987-994
Number of pages8
ISBN (Print)9781612844541
DOIs
Publication statusPublished - 29 Dec 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 25 Sep 201130 Sep 2011

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period25/09/1130/09/11

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