Vision-based robotic system for polyhedral object grasping using kinect sensor

Pablo Gonzalez, Ming Yang Cheng, Wei Liang Kuo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Since the introduction of the Microsoft Kinect sensor, real-Time 3D perception of objects in a close-range scene has become one of the major trends in the current research on robotics and computer vision domain. As part of a long-Term goal to develop a robust object recognition system for industrial applications, this paper focuses on the research topic of 3D planes recognition and separation for polyhedral object grasping using industrial manipulators and Kinect as a 3D vision system. Since the data acquired by the vision sensor such as Kinect are invariably noisy, a pipeline of algorithms has been implemented to reduce the noise and clustering the data points properly. With the feature vectors computed for each data point that represent the object of interest given, a split and merge algorithm has been developed to cluster the data exploiting the flexibility and robustness of the fuzzy logic inference system and then fitting each segment to a planar model using RANSAC. This work mainly uses the eye-To-hand Kinect-based vision system to retrieve the 3D position and normal vectors of the planar faces of the object and then give instructions to a robotic arm for grasping. Experimental results indicate that the proposed pipeline of algorithms written in C# for plane segmentation can successfully segment the polyhedral object, and the Kinect-based robotic vision system developed in this work can achieve real-Time automatic polyhedral object grasping with high precision.

Original languageEnglish
Title of host publication2016 International Automatic Control Conference, CACS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages71-76
Number of pages6
ISBN (Electronic)9781509041084
DOIs
Publication statusPublished - 2017 Jul 10
Event2016 International Automatic Control Conference, CACS 2016 - Taichung, Taiwan
Duration: 2016 Nov 92016 Nov 11

Publication series

Name2016 International Automatic Control Conference, CACS 2016

Other

Other2016 International Automatic Control Conference, CACS 2016
CountryTaiwan
CityTaichung
Period16-11-0916-11-11

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering
  • Control and Optimization

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    Gonzalez, P., Cheng, M. Y., & Kuo, W. L. (2017). Vision-based robotic system for polyhedral object grasping using kinect sensor. In 2016 International Automatic Control Conference, CACS 2016 (pp. 71-76). [7973886] (2016 International Automatic Control Conference, CACS 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2016.7973886