GRASPING OF NOVEL OBJECTS BY MOBILE ROBOT USING VISUAL PROCESSING
Journal Title: Вчені записки Таврійського національного університету імені В. І. Вернадського. Серія: Технічні науки - Year 2018, Vol 29, Issue 1
Abstract
The article describes the problem of capturing unseen before objects by a mobile robot, equipped with one camera without additional depth sensors. The basic properties of such robot system are determined. The method of obtaining a dense three-dimensional model of an object from an environmental map based on the simultaneous localization and mapping approach based on the prediction of a real-time depth map using a convolutional neural network is considered. The obtained three-dimensional model is applied in the method of planning of stable grasp of an object rotated by the robotic hand, which uses analysis of the symmetry properties of the median axis of the object model.
Authors and Affiliations
А. Є. Вітюк, Я. І. Корнага, А. О. Барабаш
Keywords
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