Grasping novel objects with depth segmentation
- Resource Type
- Conference
- Authors
- Rao, Deepak; Le, Quoc V.; Phoka, Thanathorn; Quigley, Morgan; Sudsang, Attawith; Ng, Andrew Y.
- Source
- 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on. :2578-2585 Oct, 2010
- Subject
- Robotics and Control Systems
Signal Processing and Analysis
Communication, Networking and Broadcast Technologies
Computing and Processing
Grasping
Three dimensional displays
Image segmentation
Robot sensing systems
Shape
Pixel
- Language
- ISSN
- 2153-0858
2153-0866
We consider the task of grasping novel objects and cleaning fairly cluttered tables with many novel objects. Recent successful approaches employ machine learning algorithms to identify points on the scene that the robot should grasp. In this paper, we show that the task can be significantly simplified by using segmentation, especially with depth information. A supervised localization method is employed to select graspable segments. We also propose a shape completion and grasp planner method which takes partial 3D information and plans the most stable grasping strategy. Extensive experiments on our robot demonstrate the effectiveness of our approach.