{"title":"Detection of cylindrical objects in tabletop scenes","authors":"Mario Richtsfeld, Robert Schwarz, M. Vincze","doi":"10.1109/RAAD.2010.5524557","DOIUrl":null,"url":null,"abstract":"This paper presents a system with a fixed robot arm and a scanning unit on a table, which is able to detect and grasp given cylindrical objects with cluttered adjacent objects in soft real-time. In the fields of industrial and home robotics, the requirements of complete 3D data, noiselessness, and obstacle-free situations are often not provided. The contribution of this work is a fast and robust method optimised for fitting cylinders in sparse and noisy range data under difficult and changing light conditions recorded from a single view. The improvements focus on the treatment of different objects on the table. The system must distinguish between them, detect, and grasp the given cylindrical object.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAAD.2010.5524557","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This paper presents a system with a fixed robot arm and a scanning unit on a table, which is able to detect and grasp given cylindrical objects with cluttered adjacent objects in soft real-time. In the fields of industrial and home robotics, the requirements of complete 3D data, noiselessness, and obstacle-free situations are often not provided. The contribution of this work is a fast and robust method optimised for fitting cylinders in sparse and noisy range data under difficult and changing light conditions recorded from a single view. The improvements focus on the treatment of different objects on the table. The system must distinguish between them, detect, and grasp the given cylindrical object.
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