Ückermann A, Haschke R, Ritter H. Real-Time 3D Segmentation of Cluttered Scenes for Robot Grasping. In: 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012) . Osaka, Japan; 2012: 198-203. ; We present a real-time algorithm that segments unstructured and highly cluttered scenes. The algorithm robustly separates objects of unknown shape in congested scenes of stacked and partially occluded objects. The model-free approach finds smooth surface patches, using a depth image from a Kinect camera, which are subsequently combined to form highly probable object hypotheses. The real-time capabilities and the quality of the algorithm are evaluated on a benchmark database. Advantages compared to existing approaches as well as weaknesses are discussed. We also report on an autonomous grasping experiment with the Shadow Robot Hand which employs the estimated shape and pose of objects given by our algorithm in a task in which it cleans a table.
Real-Time 3D Segmentation of Cluttered Scenes for Robot Grasping
2012-01-01
Conference paper
Electronic Resource
English
Shape Context and Chamfer Matching in Cluttered Scenes
British Library Conference Proceedings | 2003
|Shape context and chamfer matching in cluttered scenes
IEEE | 2003
|