Dune08b

C. Dune, E. Marchand, C. Collewet, C. Leroux. Active rough shape estimation of unknown objects. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'08, Pages 3622-3627, Nice, France, September 2008.

Download [help]

Download Hal paper:

Download paper: Adobe portable document (pdf)

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

This paper presents a method to determine the rough shape of an object. This is a step in the development of a "One Click Grasping Tool", a grasping tool of everyday-life objects for an assistant robot dedicated to elderly or disabled. The goal is to determine the quadric that approximates at best the shape of an unknown object using multi-view measurements. Non-linear optimization techniques are considered to achieve this goal. Since multiple views are necessary, an active vision process is considered in order to minimize the uncertainty on the estimated parameters and determine the next best view. Finally, results that show the validity of the approach are presented.

Contact

Christophe Collewet

BibTex Reference

@InProceedings{Dune08b,
   Author = {Dune, C. and Marchand, E. and Collewet, C. and Leroux, C.},
   Title = {Active rough shape estimation of unknown objects},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'08},
   Pages = {3622--3627},
   Address = {Nice, France},
   Month = {September},
   Year = {2008}
}

EndNote Reference [help]

Get EndNote Reference (.ref)

This page has been automatically generated by bib2html.