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題名 | Stereo-Based 3D Localization for Grasping Known Objects with a Robotic Arm System=基於立體視覺三維定位的機器手臂系統抓取已知物件之研究 |
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作者 | 黃漢邦; 陳嘉宏; 劉廣志; Huang, Han-pang; Chen, Chia-hung; Liu, Kuang-chih; |
期刊 | 中國機械工程學刊 |
出版日期 | 20110800 |
卷期 | 32:4 2011.08[民100.08] |
頁次 | 頁323-330 |
分類號 | 448.94 |
語文 | eng |
關鍵詞 | 立體視覺三維定位; 機器手臂; 電腦視覺; Visual servo; Motion planning; Stereo vision; Grasping; |
中文摘要 | 對於機器手臂系統來說,強健的視覺伺服控制仍是個很困難的問題。在電腦視覺領域裡,已經發展了很多的物件辨識和定位的系統,但一般來說,他們都不適用於機器手臂的應用,特別是準確的物件偵測和在攝影機座標系統的定位對於手臂抓握是非常重要的。在本文中,我們將提出一個系統,能夠準確地利用立體視覺系統定位出3D空間中的物件,並且利用一張低成本且高效率的大眾化的繪圖顯示卡即時的算出場景深度資訊。在運動軌跡規劃上,我們使用雙向快速擴張隨機樹(BiRRT)演算法有效率的收尋一條可行的抓握路徑,我們的機器手臂能夠強健且自主的抓取3D空間中的單一顏色物件和紋理物件。我們用一隻靈巧的機器手臂亞當實現了一個抓握方案,能夠抓取放置在它面前的物件,這個方案整合了物件偵測、立體視覺、運動軌跡規劃等元素,展現了我們提出的系統的強健性與靈巧性。 |
英文摘要 | Robust visual servoing is still a difficult problem for a robotic arm system. Within the computer vision community, many object recognition and localization systems have been developed, but in general, they are not tailored to robotic arm applications. In particular, accurate object detection and localization in the camera coordinate system is crucial for grasping. In this paper, we will present a system that makes explicit use of the stereo camera system to locate objects in 3D space and utilizes a commodity graphics card for real-time calculation of depth information that is both low in cost and efficient. In motion planning, the bidirectional RRT (BiRRT) algorithm is used to search for a valid path for efficient grasping. Our robot arm can robustly and autonomously grasp single-colored objects and textured objects in 3D space. We realized a grasping scenario with a dexterous arm, ADAM, where an object in front of ADAM could be grasped. This demonstration shows how the proposed components build a dexterous and robust system integrating object detection, stereo vision, and motion planning. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。