TY - GEN
T1 - A visibility-based accessibility analysis of the grasp points for real-time manipulation
AU - Jang, Han Young
AU - Moradi, Hadi
AU - Lee, Sukhan
AU - Han, Jung Hyun
PY - 2005
Y1 - 2005
N2 - This paper presents a novel approach to accessibility analysis for manipulative robotic tasks. The workspace is captured using a stereo camera, and heterogeneously modeled with the recognized plane features, recognized objects with complete solid models, and unrecognized 3D point clouds organized with a multi-resolution octree. When the service robot is requested to manipulate a recognized object, the local accessibility information for the object is retrieved from the object database. Then, accessibility analysis is done to verify the object accessibility and determine the global accessibility. The verification process utilizes the visibility query, which is accelerated by graphics hardware. The experimental results show the feasibility of real-time and behavior-oriented 3D modeling of workspace for robotic manipulative tasks, and also the performance gain of the hardware-accelerated accessibility analysis obtained using the commodity graphics card.
AB - This paper presents a novel approach to accessibility analysis for manipulative robotic tasks. The workspace is captured using a stereo camera, and heterogeneously modeled with the recognized plane features, recognized objects with complete solid models, and unrecognized 3D point clouds organized with a multi-resolution octree. When the service robot is requested to manipulate a recognized object, the local accessibility information for the object is retrieved from the object database. Then, accessibility analysis is done to verify the object accessibility and determine the global accessibility. The verification process utilizes the visibility query, which is accelerated by graphics hardware. The experimental results show the feasibility of real-time and behavior-oriented 3D modeling of workspace for robotic manipulative tasks, and also the performance gain of the hardware-accelerated accessibility analysis obtained using the commodity graphics card.
KW - 3d workspace modeling
KW - Accessibility analysis
KW - Robotic manipulation
KW - Visibility
UR - http://www.scopus.com/inward/record.url?scp=79957986020&partnerID=8YFLogxK
U2 - 10.1109/IROS.2005.1545526
DO - 10.1109/IROS.2005.1545526
M3 - Conference contribution
AN - SCOPUS:79957986020
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 3111
EP - 3116
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PB - IEEE Computer Society
ER -