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首页> 外文会议>Seventh International Symposium on Mechatronics and its Applications (ISMA' 10) >Efficient shape and pose recovery of unknown objects from three camera views
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Efficient shape and pose recovery of unknown objects from three camera views

机译：通过三个摄像机视图有效地恢复未知物体的形状和姿势

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摘要

Knowing the shape and pose of objects of interest is critical information when planning robotic grasping and manipulation maneuvers. The ability to recover this information from objects for which there is no a priori knowledge is a valuable behavior for an autonomous or semi-autonomous robot. In this paper, we present methods and algorithms for the shape and pose recovery of unknown objects using no a priori information. Three camera views are taken of the object from three mutually orthogonal directions. Using shape from silhouettes, a point surface reconstruction of the object is performed and a superquadric is fit to the resulting array of points. We show through simulation and experiment that this method yields reconstruction accuracy sufficient for planning and executing grasping maneuvers. In addition to novel contributions, we have made performance improvements to recently published algorithms.
机译：在计划机器人的抓握和操纵动作时，了解目标物体的形状和姿势是至关重要的信息。从没有先验知识的对象中恢复此信息的能力对于自主或半自主机器人来说是有价值的行为。在本文中，我们提出了无需先验信息即可用于未知物体的形状和姿态恢复的方法和算法。从三个相互正交的方向拍摄对象的三个摄像机视图。使用轮廓中的形状，执行对象的点表面重建，并将超二次拟合到所得点阵列。我们通过仿真和实验表明，该方法产生的重建精度足以规划和执行抓取动作。除了做出新的贡献外，我们还对最近发布的算法进行了性能改进。

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