Robot painter: from object to trajectory

– This paper presents visual perception discovered in high-level manipulator planning for a robot to reproduce the procedure involved in human painting. First, we propose a technique of 3D object segmentation that can work well even when the precision of the cameras is inadequate. Second, we apply a simple yet powerful fast color perception model that shows similarity to human perception. The method outperforms many existing interactive color perception algorithms. Third, we generate global orientation map perception using a radial basis function. Finally, we use the derived foreground, color segments, and orientation map to produce a visual feedback drawing. Our main contributions are 3D object segmentation and color perception schemes.

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Miti Ruchanurucks, Shunsuke Kudoh, Koichi Ogawara, Takaaki Shiratori, Katsushi Ikeuchi
• Keywords: Color Perception, Color Perception Algorithms, Color Perception Model, IROS 2007, Robotics