| 1. |
- Kragic, Danica, et al.
(författare)
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Model Based Techniques for Robotic Servoing and Grasping
- 2002
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Konferensbidrag (refereegranskat)abstract
- A robotic manipulation of objects typically involves object detection/recognition, servoing to the object, alignment and grasping. To perform fine alignment and finally grasping, it is usually necessary to estimate position and orientation (pose) of the object. In this paper we present a model based tracking system used to estimate and continuously update the pose of the object to be manipulated. Here, a wire-frame model is used to find and track features in the consequent images. One of the important parts of the system is the ability to automatically initiate the tracking process. The strength of the system is the ability to operate in an domestic environment (living room) with changing lighting and background conditions.
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| 2. |
- Kragic, Danica, et al.
(författare)
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Survey on Visual Servoing for Manipulation
- 2002
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Konferensbidrag (refereegranskat)abstract
- Vision guided robotics has been one of the major research issue for more than three decades. The more recent technological development facilitated the advancement in the area which has resulted in a number of successful and even commercial systems using off–the–shelf hardware. The applications of visually guided systems are many: from intelligent homes to automotive industry. However, one of the open and commonly stated problems in the area is the need for exchange of experiences and research ideas. In our opinion, a good starting point for this is to advertise the successes and propose a common terminology in form of a survey paper. The paper concentrates on different types of visual servoing: image based, position based and 2 1/2D visual servoing. Different issues concerning both the hardware and software requirements are considered and the most prominent contributions are reviewed. The proposed terminology is used to introduce a young researcher and lead the experts in the field through a three decades long historical field of vision guided robotics. We also include a number of real–world examples from our own research providing not only a conceptual framework but also illustrating most of the issues covered in the paper.
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| 3. |
- Kragic, Danica, et al.
(författare)
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Visually guided manipulation tasks
- 2002
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Ingår i: Robotics and Autonomous Systems. - 0921-8890 .- 1872-793X. ; 40:3-Feb, s. 193-203
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, we present a framework for a robotic system with the ability to perform real-world manipulation tasks. The complexity of such tasks determines the precision and freedoms controlled which also affects the robustness and the flexibility of the system. The aspect is on the development of visual system and visual tracking techniques in particular. Since precise tracking and control of a full pose of the object to be manipulated is usually less robust and computationally expensive, we integrate vision and control system where the objectives are to provide the discrete state information required to switch between control modes of different complexity. For this purpose, an integration of simple visual algorithms is used to provide a robust input to the control loop. Consensus theory is investigated as the integration strategy. In addition, a general purpose framework for integration of processes is used to implement the system on a real robot. The proposed approach results in a system which can robustly locate and grasp a door handle and then open the door.
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| 4. |
- Kragic, Danica, et al.
(författare)
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Weak Models and Cue Integration for Real-Time Tracking
- 2002
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Konferensbidrag (refereegranskat)abstract
- Traditionally, fusion of visual information for tracking has been based on explicit models for uncertainty and integration. Most of the approaches use some form of Bayesian statistics where strong models are employed. We argue that for cases where a large number of visual features are available, weak models for integration may be employed. We analyze integration by voting where two methods are proposed and evaluated: i) response and ii) action fusion. The methods differ in the choice of Voting space: the former integrates visual information in image space and latter in velocity space. We also evaluate four weighting techniques for integration.
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| 5. |
- Petersson, Lars, et al.
(författare)
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Systems integration for real–world manipulation tasks
- 2002
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Ingår i: 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS. - 0780372727 ; , s. 2500-2505
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Konferensbidrag (refereegranskat)abstract
- A system developed to demonstrate integration of a number of key research areas such as localization, recognition, visual tracking, visual servoing and grasping is presented together with the underlying methodology adopted to facilitate the integration. Through sequencing of basic skills, provided by the above mentioned competencies, the system has the potential to carry out flexible grasping for fetch and carry in realistic environments. Through careful fusion of reactive and deliberative control and use of multiple sensory modalities a significant flexibility is achieved. Experimental verification of the integrated system is presented.
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| 6. |
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