domestic environments

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Presentation transcript:

domestic environments Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments Jörg Stückler, Ricarda Steffens, Dirk Holz, Sven Behnke University of Bonn Presented by: Masatoshi Chang-Ogimoto mc4235@columbia.edu

Cosero Robot

Cosero cognitive service robot [Stückler 2012]

Main Topics 3D Perception Grasp Planning

Real-time 3D Perception

Tabletop Object Detection

Tabletop Object Detection

Processing Pipeline Compute normals Extract horizontal points Detect support plane Detect object candidates Track objects

Computing Normal [Holzer 2012]

Integral Image [Holzer 2012]

Integral Image [Integral Image]

Calculate Vectors Smoothing Area Map [Holzer 2012]

Resulting Normals

[Holzer 2012]

Efficient Grasp Planning

Coarse to Fine Strategy Approach table reference frame Adjust height and distance to table Align itself to workspace for arm Bring end-effector to pre-grasp position Move to object and grasp it Bring to pre-grasp position

Feasible Grasps Grasp width Object height Reachability Collision

Ranking of Grasps Distance to object center Grasp width Grasp orientation Distance from robot

Grasp Calculation

Checking for Collisions

Tabletop Grasp

Shelf Grasp

Tabletop Grasp

Shelf Grasp

RoboCup German Open 2012 @Home Winner: NimbRo

RoboCup German Open 2011: Final of Team NimbRo@Home

RoboCup 2011: @Home Winner Team NimbRo

References Holz, D., Holzer, S., Rusu, R. B., & Behnke, S. (n.d.). Real-Time Plane Segmentation using RGB-D Cameras. Holzer, S., Rusu, R. B., Dixon, M., Gedikli, S., & Navab, N. (2012). Adaptive Neighborhood Selection for Real-Time Surface Normal Estimation from Organized Point Cloud Data Using Integral Images. IEEE/RSJ International Conference on Intelligent Robots and Systems. Integral Image. https://www.mathworks.com/help/vision/ref/integralimage.html Stückler, J., Steffens, R., Holz, D., & Behnke, S. (2012). Efficient 3D Object Perception and Grasp Planning for Mobile Manipulation in Domestic Environments. Robotics and Autonomous Systems. Stückler, J., Schwarz, M., & Behnke, S. (2016). Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero. Frontiers in Robotics and AI, 3, 58.