Active rough shape estimation of unknown objects

— This paper presents a method to determine the rough shape of an object. This is a step in the development of a ”One Click Grasping Tool”, a grasping tool of everyday-life objects for an assistant robot dedicated to elderly or disabled. The goal is to determine the quadric that approximates at best the shape of an unknown object using multi-view measurements. Non-linear optimization techniques are considered to achieve this goal. Since multiple views are necessary, an active vision process is considered in order to minimize the uncertainty on the estimated parameters and determine the next best view. Finally, results that show the validity of the approach are presented. I. MOTIVATIONS Much technology remains to be developed to assist people with disabilities. Robotic assistance may help these people to recover some manipulation capabilities by achieving actions such as carrying, grabbing, picking up and moving objects [11]. As the severity of the patient’s handicap increases, ...

• Type: Conference
• Year: 2008
• Where: IROS
• Authors: Claire Dune, Éric Marchand, Christophe Collewet, Christophe Leroux
• Keywords: Click Grasping Tool, Grasping, IROS 2008, Robotics, ”one Click