Primitive Shape Fitting in Point Clouds for Enabling Autonomous Underwater Grasping
نویسندگان
چکیده
Autonomous grasping of unknown objects by a robot is a highly challenging skill that is receiving increasing attention in the last years, and is still more challenging in underwater environments, with highly unstructured scenarios, limited availability of sensors and adverse conditions that affect the robot perception and control systems. This paper describes an approach for autonomous grasping on underwater primitive shaped objects from floating vehicles, in particular cylinder shaped objects like an amphora. Various sources of stereo information are used to gather 3D information in order to recognise the object and plan feasible grasp on it using a RANSAC primitive shape recognition algorithm.
منابع مشابه
Fitting Primitive Shapes to Point Clouds for Robotic Grasping
Due to the growth of service robots in the last few years, made it possible that robots can carry out human tasks. Houseworks that for humans would seem as common and simple as grasping, moving and interacting with objects, are a challenge both mechanically and computationally in robotics. Therefore, considering the process of grasping objects by robotic machines, this thesis introduces an algo...
متن کاملTarget detection Bridge Modelling using Point Cloud Segmentation Obtained from Photogrameric UAV
In recent years, great efforts have been made to generate 3D models of urban structures in photogrammetry and remote sensing. 3D reconstruction of the bridge, as one of the most important urban structures in transportation systems, has been neglected because of its geometric and structural complexity. Due to the UAV technology development in spatial data acquisition, in this study, the point cl...
متن کاملInvestigation on Nose and Tail Shape Effects on Hydrodynamic Parameters in Autonomous Underwater Vehicles
Development of autonomous underwater vehicles (AUVs) which meets the design constraints and provides the best hydrodynamic performance is really an important challenge in the field of hydrodynamics. In this paper a new profile is used for designing the hull of AUVs. The nose and tail profiles of an AUV using presented profile is designed such that it can properly consider the length constraints...
متن کاملShape-Primitive Based Object Recognition and Grasping
Grasping objects from unstructured piles is an important, but difficult task. We present a new framework to grasp objects composed of shape primitives like cylinders and spheres. For object recognition, we employ efficient shape primitive detection methods in 3D point clouds. Object models composed of such primitives are then found in the detected shapes with a probabilistic graph-matching tech...
متن کاملAutonomous Underwater Vehicle Hull Geometry Optimization Using a Multi-objective Algorithm Approach
Abstarct In this paper, a new approach to optimize an Autonomous Underwater Vehicle (AUV) hull geometry is presented. Using this methode, the nose and tail of an underwater vehicle are designed, such that their length constraints due to the arrangement of different components in the AUV body are properly addressed. In the current study, an optimal design for the body profile of a torpedo-shaped...
متن کامل