A Graphics Hardware-based Accessibility Analysis for Real-time Robotic Manipulation
نویسندگان
چکیده
This paper presents a new approach to real-time accessibility analysis for robotic manipulation. The workspace is captured using a stereo camera, and processed into a 3D model which is composed of extracted planar features, recognized objects, and unrecognized 3D point clouds organized using an octree. When a robot is requested to manipulate a recognized object, the local accessibility information for the object is retrieved from the object database. Then, the accessibility analysis procedure is invoked to verify the local accessibility and determine the global accessibility. The verification process utilizes the visibility query supported by graphics hardware. The experimental results show the feasibility of real-time accessibility analysis using commodity graphics hardware and its performance gain.
منابع مشابه
A Hardware-based Accessibility Analysis for Real-time Robotic Manipulation
This paper presents a new approach to real-time accessibility analysis for manipulative robotic tasks using graphics hardware. The workspace is captured using a stereo camera, and heterogeneously modeled with the recognized plane features, recognized objects with complete solid models, and unrecognized 3D point clouds organized with a multiresolution octree. When the service robot is requested ...
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