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Título

Object detection methods for robot grasping: Experimental assessment and tuning

AutorRigual, Ferran; Ramisa, Arnau; Alenyà, Guillem ; Torras, Carme
Palabras claveObject detection
Grasping
Robotics
Fecha de publicación2012
EditorInstitute of Physics Publishing
CitaciónArtificial Intelligence Research and Development: 123-132 (2012)
SerieFrontiers in Artificial Intelligence and Applications
248
ResumenIn this work we address the problem of object detection for the purpose of object manipulation in a service robotics scenario. Several implementations of state-of-the-art object detection methods were tested, and the one with the best performance was selected. During the evaluation, three main practical limitations of current methods were identified in relation with long-range object detection, grasping point detection and automatic learning of new objects; and practical solutions are proposed for the last two. Finally, the complete pipeline is evaluated in a real grasping experiment.
DescripciónTrabajo presentado a la 15th Catalan Conference on Artificial Intelligence (CCIA) celebrada en Alicante del 24 al 26 de octubre de 2012.
Versión del editorhttp://dx.doi.org/10.3233/978-1-61499-139-7-123
URIhttp://hdl.handle.net/10261/96575
DOI10.3233/978-1-61499-139-7-123
ISBN978-1-61499-138-0
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