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Combined shape, appearance and silhouette for simultaneous manipulator and object tracking

Hebert, Paul and Hudson, Nicolas and Ma, Jeremy and Howard, Thomas and Fuchs, Thomas and Bajracharya, Max and Burdick, Joel (2012) Combined shape, appearance and silhouette for simultaneous manipulator and object tracking. In: 2012 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 2405-2412. ISBN 978-1-4673-1403-9. https://resolver.caltech.edu/CaltechAUTHORS:20120703-081044046

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Abstract

This paper develops an estimation framework for sensor-guided manipulation of a rigid object via a robot arm. Using an unscented Kalman Filter (UKF), the method combines dense range information (from stereo cameras and 3D ranging sensors) as well as visual appearance features and silhouettes of the object and manipulator to track both an object-fixed frame location as well as a manipulator tool or palm frame location. If available, tactile data is also incorporated. By using these different imaging sensors and different imaging properties, we can leverage the advantages of each sensor and each feature type to realize more accurate and robust object and reference frame tracking. The method is demonstrated using the DARPA ARM-S system, consisting of a Barrett™WAM manipulator.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ICRA.2012.6225084DOIArticle
Additional Information:© 2012 IEEE. Date of Current Version: 28 June 2012. The author gratefully acknowledges the support from the National Science and Engineering Research Council of Canada (NSERC). The research described in this publication was carried out at the Jet Propulsion Laboratory, California Institute of Technology, with funding from the DARPA Autonomous Robotic Manipulation Software Track (ARM-S) program and the U.S. Army under the Robotics Collaborative Technology Alliance through an agreement with NASA.
Funders:
Funding AgencyGrant Number
National Science and Engineering Research Council of Canada (NSERC)UNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
U. S. Army Robotics Collaborative Technology AllianceUNSPECIFIED
NASA/JPL/CaltechUNSPECIFIED
Record Number:CaltechAUTHORS:20120703-081044046
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20120703-081044046
Official Citation:Hebert, Paul; Hudson, Nicolas; Ma, Jeremy; Howard, Thomas; Fuchs, Thomas; Bajracharya, Max; Burdick, Joel; , "Combined shape, appearance and silhouette for simultaneous manipulator and object tracking," Robotics and Automation (ICRA), 2012 IEEE International Conference on , vol., no., pp.2405-2412, 14-18 May 2012 doi: 10.1109/ICRA.2012.6225084 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6225084&isnumber=6224548
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:32242
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:06 Jul 2012 23:30
Last Modified:03 Oct 2019 03:59

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