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Learning grasping p...
Learning grasping points with shape context
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- Bohg, Jeannette (författare)
- KTH,Centrum för Autonoma System, CAS,Datorseende och robotik, CVAP
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- Kragic, Danica (författare)
- KTH,Centrum för Autonoma System, CAS,Datorseende och robotik, CVAP
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(creator_code:org_t)
- Elsevier BV, 2010
- 2010
- Engelska.
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Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 58:4, s. 362-377
- Relaterad länk:
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https://urn.kb.se/re...
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visa fler...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- This paper presents work on vision based robotic grasping. The proposed method adopts a learning framework where prototypical grasping points are learnt from several examples and then used on novel objects. For representation purposes, we apply the concept of shape context and for learning we use a supervised learning approach in which the classifier is trained with labelled synthetic images. We evaluate and compare the performance of linear and non-linear classifiers. Our results show that a combination of a descriptor based on shape context with a non-linear classification algorithm leads to a stable detection of grasping points for a variety of objects.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences (hsv//eng)
Nyckelord
- Grasping
- Shape context
- Affordances
- SVM
- Information technology
- Informationsteknik
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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