Integration of Visual Cues for Robotic Grasping

In this paper, we propose a method that generates grasping actions for novel objects based on visual input from a stereo camera. We are integrating two methods that are advantageous either in predicting how to grasp an object or where to apply a grasp. The first one reconstructs a wire frame object model through curve matching. Elementary grasping actions can be associated to parts of this model. The second method predicts grasping points in a 2D contour image of an object. By integrating the information from the two approaches, we can generate a sparse set of full grasp configurations that are of a good quality. We demonstrate our approach integrated in a vision system for complex shaped objects as well as in cluttered scenes.

• Type: Conference
• Year: 2009
• Where: ICVS
• Authors: Niklas Bergström, Jeannette Bohg, Danica Kragic
• Keywords: Computer Vision, Elementary Grasping Actions, Frame Object Model, Grasping, ICVS 2009