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Vision-Based Solutions for Robotic Manipulation and Navigation Applied to Object Picking and Distribution

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dc.contributor.authorRoa-Garzón, Máximo A.
dc.contributor.authorGambaro, Elena F.
dc.contributor.authorFlorek-Jasinska, Monika
dc.contributor.authorEndres, Felix
dc.contributor.authorRuess, Felix
dc.contributor.authorSchaller, Raphael
dc.contributor.authorEmmerich, Christian
dc.contributor.authorMuenster, Korbinian
dc.contributor.authorSuppa, Michael
dc.date.accessioned2021-04-23T09:25:51Z
dc.date.available2021-04-23T09:25:51Z
dc.date.issued2019
dc.description.abstractThis paper presents a robotic demonstrator for manipulation and distribution of objects. The demonstrator relies on robust 3D vision-based solutions for navigation, object detection and detection of graspable surfaces using the rc _ visard , a self-registering stereo vision sensor. Suitable software modules were developed for SLAM and for model-free suction gripping. The modules run onboard the sensor, which enables creating the presented demonstrator as a standalone application that does not require an additional host PC. The modules are interfaced with ROS, which allows a quick implementation of a fully functional robotic application.de
dc.identifier.doi10.1007/s13218-019-00588-z
dc.identifier.pissn1610-1987
dc.identifier.urihttp://dx.doi.org/10.1007/s13218-019-00588-z
dc.identifier.urihttps://dl.gi.de/handle/20.500.12116/36235
dc.publisherSpringer
dc.relation.ispartofKI - Künstliche Intelligenz: Vol. 33, No. 2
dc.relation.ispartofseriesKI - Künstliche Intelligenz
dc.subjectLogistics
dc.subjectObject picking
dc.subjectRobotic vision
dc.titleVision-Based Solutions for Robotic Manipulation and Navigation Applied to Object Picking and Distributionde
dc.typeText/Journal Article
gi.citation.endPage180
gi.citation.startPage171

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Künstliche Intelligenz 33(2) - Juni 2019