• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>OCEANS 2017 - Aberdeen >Increasing underwater manipulation autonomy using segmentation and visual tracking
【24h】

Increasing underwater manipulation autonomy using segmentation and visual tracking

机译：使用分段和视觉跟踪提高水下操纵自主权

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

The present research in underwater robotics aims to increase the autonomy of manipulation operations in fields such as archaeology or biology, that cannot afford costly underwater interventions using traditional Remote Operated Vehicles (ROV). This paper describes a work towards the long term goal of autonomous underwater manipulation. Autonomous grasping, with limited sensors and water conditions which affect the robot systems, is a growing skill in underwater scenarios. Here we present a framework that uses vision, segmentation, user interfaces and grasp planning to perform visually guided manipulation to improve the specification of grasping operations. With it, a user commands and supervises the robot to recover cylinder shaped objects, a very common restriction in archaeological scenarios. This framework, though, can be expanded to detect other kind of objects. Information of the environment is gathered with stereo cameras and laser reconstruction methods to obtain a model of the object's graspable area. A RANSAC segmentation algorithm is used to estimate the model parameters and the best grasp is presented to the user in an intuitive user interface. The grasp is then executed by the robot. This approach has been tested in simulation and in water tank conditions.
机译：水下机器人技术的当前研究旨在增加诸如考古学或生物学等领域的操纵操作的自主性，这些领域无法承受使用传统遥控车（ROV）进行的昂贵的水下干预。本文介绍了实现水下自主操纵长期目标的工作。在水下场景中，越来越多的自主抓握技术在传感器和水位有限的情况下会影响机器人系统。在这里，我们提供了一个框架，该框架使用视觉，细分，用户界面和抓取计划来执行视觉引导的操纵，从而提高抓取操作的规范。借助它，用户可以命令并监督机器人以回收圆柱形物体，这在考古场景中是非常普遍的限制。但是，可以扩展此框架以检测其他类型的对象。使用立体相机和激光重建方法收集环境信息，以获得对象可抓取区域的模型。使用RANSAC分割算法来估计模型参数，并在直观的用户界面中向用户提供最佳的掌握。然后由机器人执行抓取。该方法已在模拟和水箱条件下进行了测试。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号