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Proceedings Paper

Pose estimation for autonomous robotic grasping
Author(s): Stanley E. Monroe; John Michael Rollins; Richard D. Juday
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Paper Abstract

The development of anthropomorphic robots for simple autonomous operations such as grasping of tools requires algorithms for automatic recognition and pose estimation of the objects. Correlation-based pattern recognition offers a robust set of tools for pose-specific detection and identification of objects. This paper discusses a system-level approach to image understanding whereby a robot is provided with training data (in the form of a computer model and an associated matched filter set), is presented with a view of the target object, and is expected to indicate recognition and to calculate a six degree-of-freedom pose estimate for the object. The pose information would then be used to specify a grasping orientation for the robot's hand. Examples are given of a proof-of-concept demonstration of an approach for an anthropomorphic robot developed at the Johnson Space Center.

Paper Details

Date Published: 7 June 2002
PDF: 11 pages
Proc. SPIE 4735, Hybrid Image and Signal Processing VIII, (7 June 2002); doi: 10.1117/12.470109
Show Author Affiliations
Stanley E. Monroe, Lockheed Martin Space Operations (United States)
John Michael Rollins, Hernandez Engineering, Inc. (United States)
Richard D. Juday, NASA Johnson Space Ctr. (Retired) (United States)

Published in SPIE Proceedings Vol. 4735:
Hybrid Image and Signal Processing VIII
David P. Casasent; Andrew G. Tescher, Editor(s)

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