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Título: | Object detection methods for robot grasping: Experimental assessment and tuning |
Autor: | Rigual, Ferran; Ramisa, Arnau CSIC ORCID; Alenyà, Guillem CSIC ORCID ; Torras, Carme CSIC ORCID | Palabras clave: | Object detection Grasping Robotics |
Fecha de publicación: | 2012 | Editor: | Institute of Physics Publishing | Citación: | Artificial Intelligence Research and Development: 123-132 (2012) | Serie: | Frontiers in Artificial Intelligence and Applications 248 |
Resumen: | In 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. | Descripción: | Trabajo presentado a la 15th Catalan Conference on Artificial Intelligence (CCIA) celebrada en Alicante del 24 al 26 de octubre de 2012. | Versión del editor: | http://dx.doi.org/10.3233/978-1-61499-139-7-123 | URI: | http://hdl.handle.net/10261/96575 | DOI: | 10.3233/978-1-61499-139-7-123 | ISBN: | 978-1-61499-138-0 |
Aparece en las colecciones: | (IRII) Libros y partes de libros |
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Fichero | Descripción | Tamaño | Formato | |
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robot grasping.pdf | 1,93 MB | Adobe PDF | Visualizar/Abrir |
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