Visual Reconstruction and Localization-Based Robust Robotic 6-DoF Grasping in the Wild

doi:10.1109/ACCESS.2021.3079245

CORC > 自动化研究所 > 中国科学院自动化研究所 > 模式识别国家重点实验室 > 三维可视计算

	Visual Reconstruction and Localization-Based Robust Robotic 6-DoF Grasping in the Wild
	Liang, Ji 1,2; Zhang, Jiguang 3; Pan, Bingbing 2,3; Xu, Shibiao 2,3; Zhao, Guangheng 1,2; Yu, Ge 1; Zhang, Xiaopeng 2,3
刊名	IEEE ACCESS
	2021
卷号	9 页码:72451-72464
关键词	Grasping Three-dimensional displays Manipulators Pose estimation Solid modeling Service robots Feature extraction Robotic grasping manipulator 6-DoF pose estimation point cloud reconstruction
ISSN号	2169-3536
DOI	10.1109/ACCESS.2021.3079245
通讯作者	Pan, Bingbing(panbingbing18@mails.ucas.ac.cn) ; Zhao, Guangheng(zhgh@csu.ac.cn)
英文摘要	The intelligent grasping expects that the manipulator has the ability to grasp objects with high degree of freedom in a wild (unstructured) environment. Due to low perception ability in handing targets and environments, most industrial robots are limited to top-down 4-DoF grasping. In this work, we propose a novel low-cost coarse to fine robotic grasping framework. First, we design a global localization based environment perception method, which enables the manipulator to roughly and automatically locate work space. Then, constrained by the above initial localization, a 3D point cloud reconstruction based 6-DoF pose estimation method is proposed for the manipulator further fine locating grasping target. Finally, our framework realizes full function of visual 6DoF robotic grasping, which includes two different visual servoing and grasp planning strategies for different objects grasping. Meanwhile, it also can integrate various state-of-arts 6DoF pose estimation algorithms to facilitate various practical grasping applications or researches. Experimental results show that our method achieves autonomous robotic grasping with high degree of freedom in an unknown environment. Especially for objects with occlusion, singular shape or small scale, our method can still maintain robust grasping.
资助项目	Prospective Topic of Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences[Y8031851SY] ; Open Research Fund of Key Laboratory of Space Utilization, Chinese Academy of Sciences[LSU-KFJJ-2020-04]
WOS研究方向	Computer Science ; Engineering ; Telecommunications
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000652043100001
资助机构	Prospective Topic of Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences ; Open Research Fund of Key Laboratory of Space Utilization, Chinese Academy of Sciences
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/44687]
专题	模式识别国家重点实验室_三维可视计算
通讯作者	Pan, Bingbing; Zhao, Guangheng
作者单位	1.Chinese Acad Sci, Technol & Engn Ctr Space Utilizat, Key Lab Space Utilizat, Beijing 100094, Peoples R China 2.Univ Chinese Acad Sci, Technol & Engn Ctr Space Utilizat, Beijing 100864, Peoples R China 3.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Liang, Ji,Zhang, Jiguang,Pan, Bingbing,et al. Visual Reconstruction and Localization-Based Robust Robotic 6-DoF Grasping in the Wild[J]. IEEE ACCESS,2021,9:72451-72464.
APA	Liang, Ji.,Zhang, Jiguang.,Pan, Bingbing.,Xu, Shibiao.,Zhao, Guangheng.,...&Zhang, Xiaopeng.(2021).Visual Reconstruction and Localization-Based Robust Robotic 6-DoF Grasping in the Wild.IEEE ACCESS,9,72451-72464.
MLA	Liang, Ji,et al."Visual Reconstruction and Localization-Based Robust Robotic 6-DoF Grasping in the Wild".IEEE ACCESS 9(2021):72451-72464.