MarinRobotics - Active Robot Vision to enable Automated Sorting and Handling of Compliant Marine Raw Materials

Informations

Funding country

Norway

Acronym

-

URL

-

Start date

1/1/2018

End date

12/31/2019

Budget

13,208 EUR

Fundings

Abstract

MarinRobotics's Vision is development of novel concepts for flexible automated sorting and handling of marine raw materials. These concepts will enable robots to better 'see' and 'understand' when performing sorting and handling of objects automatically in 'sense-think-act' manner. The primary objective in this project is development of an active perception approach for robots, based on the RGB-D sensor mounted to a robot arm, a concept to be used for automatic 3D object reconstruction. During robotic grasping and manipulation of compliant object of biological origin, there is a need for an accurate understanding of 3D model and geometry of the objects prior to grasping and manipulatio. Often, the objects to be manipulated have occluded areas and therefore it is difficult to reconstruct their accurate 3D model in order to do estimation of object pose and grasping pose. In this project is developed an active vision methodology for automated scanning and 3D reconstruction of the objects based on a RGB-D sensor mounted on a robot arm. The method is based on high dimensional point-cloud space and optimization of a specific cost function for viewpoint selection in order to achieve the active vision by visual servoing of a robot arm. The method is real-time and achieves a 3D reconstruction model of an object with a high accuracy and sufficient number of point clouds.