机器人2013，Vol.35Issue(2)：151-155,5.DOI:10.3724/SP.J.1218.2013.00151
面向机器人手眼协调抓取的3维建模方法
A 3D Modeling Method for Robot's Hand-Eye Coordinated Grasping
摘要
Abstract
For robot's hand-eye coordinated grasping, a 3D modeling method for common objects in the household environment is proposed. By simultaneously collecting RGB image and depth image from the RGB-D sensor, feature points and feature descriptors are extracted from the RGB image. The correspondences between adjacent frames are set up through matching of the feature descriptors. The RANSAC (RANdom SAmple Consensus) based three point algorithm is used to compute the relative pose between adjacent frames. Based on loop closure, the result is refined by minimizing the re-projection error with Levenberg-Marquardt algorithm. With this method, object's dense 3D point cloud model can be obtained simply by placing the object on a plane table, and collecting ten to twenty frames data around the object. 3D models are set up for twenty household objects which are appropriate for the service robot to grasp. The experiment results show that the error is about 1 mm for models with diameters between 5 cm and 7 cm, which fully satisfies the requirements for the pose determination in robot grasping.关键词
3维建模/特征点/特征描述子/自运动估计/位姿计算Key words
3D modeling/ feature point/ feature descriptor/ ego-motion estimation/ pose determination分类
信息技术与安全科学引用本文复制引用
杨扬,曹其新,朱笑笑,陈培华..面向机器人手眼协调抓取的3维建模方法[J].机器人,2013,35(2):151-155,5.基金项目
国家863计划资助项目(2012AA100906) （2012AA100906）
机械系统与振动国家重点试验室资助项目(MSV-MS-2010-01) （MSV-MS-2010-01）
上海市教委创新项目(12ZZ014). （12ZZ014）
