Discovery, segmentation and reactive grasping of unknown objects

2012 ◽  
Author(s):  
David Schiebener ◽  
Julian Schill ◽  
Tamim Asfour
Keyword(s):  
Unknown Objects

A Geometric Approach for Grasping Unknown Objects With Multifingered Hands

2020 ◽  
pp. 1-12
Author(s):  
Marios Kiatos ◽  
Sotiris Malassiotis ◽  
Iason Sarantopoulos
Keyword(s):  
Geometric Approach ◽  
Multifingered Hands ◽  
Unknown Objects

scholarly journals Fast grasping of unknown objects using principal component analysis

AIP Advances ◽  
2017 ◽  
Vol 7 (9) ◽  
pp. 095126 ◽  
Author(s):  
Qujiang Lei ◽  
Guangming Chen ◽  
Martijn Wisse
Keyword(s):  
Principal Component Analysis ◽  
Principal Component ◽  
Component Analysis ◽  
Unknown Objects

Vision-based Aided-Grasping in Teleoperation with Multiple Unknown Objects

2020 ◽  
Author(s):  
Yunjoo Kim ◽  
Woojong Kim ◽  
Seongwoong Hong ◽  
Seulki Kyeong ◽  
Jirou Feng ◽  
...  
Keyword(s):  
Unknown Objects

Generation and Implementation of Grasping Rectangle Based on Hierarchical Shape Context and Kernel Density Estimation towards Robotic Grasping Unknown Objects

2013 ◽  
Vol 433-435 ◽  
pp. 537-544
Author(s):  
Guo Liang Kang ◽  
Shi Yin Qin
Keyword(s):  
Density Estimation ◽  
Random Forests ◽  
Kernel Density Estimation ◽  
Stereo Matching ◽  
Vision System ◽  
Kernel Density ◽  
Robotic Grasping ◽  
Shape Context ◽  
3D Space ◽  
Unknown Objects

This paper focuses on the perception step of robotic grasping unknown objects in order to get a stable grasping hypothesis. At first, hierarchical shape context feature is proposed to depict the local and global shape character of a sample point along the edges of the object. Moreover a kind of random forests classifier is adopted to recognize the grasping candidates in the image from vision system so that a 2D grasping rectangle can be generated through kernel density estimation. Finally, by means of stereo matching, the grasping rectangle can be mapped into the 3D space. Thus, the center of the grasping rectangle can be applied as the center of the gripper. The approaching vector and the grasping rectangle direction can be employed to determine the pose of the gripper. Simulated experiments showed that a reasonable and stable grasping rectangle can be generated for various unknown objects.

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