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Active rough shape estimation of unknown objects

C. Dune 1, 2 E. Marchand 2 Christophe Collewet 2 Cédric Leroux 1
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper presents a method to determine the rough shape of an object. This is a step in the development of a One Click Grasping Tool, a grasping tool of everyday-life objects for an assistant robot dedicated to elderly or disabled. The goal is to determine the quadric that approximates at best the shape of an unknown object using multi-view measurements. Non-linear optimization techniques are considered to achieve this goal. Since multiple views are necessary, an active vision process is considered in order to minimize the uncertainty on the estimated parameters and determine the next best view. Finally, results that show the validity of the approach are presented.
Mots-clés : VISION ACTIVE
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C. Dune, E. Marchand, Christophe Collewet, Cédric Leroux. Active rough shape estimation of unknown objects. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'08, 2008, Nice, France, France. pp.3622-3627. ⟨inria-00351864⟩

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