桌面场景中圆柱形物体的检测

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI:10.1109/RAAD.2010.5524557

Mario Richtsfeld, Robert Schwarz, M. Vincze

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引用次数: 1

摘要

本文提出了一种采用固定机械臂和桌面上扫描单元的系统，该系统能够对给定的具有杂乱相邻物体的圆柱形物体进行软实时检测和抓取。在工业和家用机器人领域，通常不提供完整的3D数据、无噪音和无障碍情况的要求。这项工作的贡献是一种快速而稳健的方法，优化了在单一视图记录的困难和变化的光线条件下，在稀疏和噪声范围数据中拟合圆柱体的方法。改进的重点是对桌子上不同物体的处理。系统必须区分它们，检测并抓住给定的圆柱形物体。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Detection of cylindrical objects in tabletop scenes

This paper presents a system with a fixed robot arm and a scanning unit on a table, which is able to detect and grasp given cylindrical objects with cluttered adjacent objects in soft real-time. In the fields of industrial and home robotics, the requirements of complete 3D data, noiselessness, and obstacle-free situations are often not provided. The contribution of this work is a fast and robust method optimised for fitting cylinders in sparse and noisy range data under difficult and changing light conditions recorded from a single view. The improvements focus on the treatment of different objects on the table. The system must distinguish between them, detect, and grasp the given cylindrical object.

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19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)

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