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Combined Visual and Touch-Based Sensing for the Autonomous Registration of Objects with Circular Features

Sachtler, Arne and Nottensteiner, Korbinian and Kaßecker, Michael and Alin, Albu-Schäffer (2019) Combined Visual and Touch-Based Sensing for the Autonomous Registration of Objects with Circular Features. In: International Conference on Advanced Robotics, Proceedings, ICAR. 19th International Conference on Advanced Robotics (ICAR), 2-6 Dec 2019, Belo Horizonte. doi: 10.1109/ICAR46387.2019.8981602.

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Abstract

Future manufacturing systems will have to allow frequent conversion of production processes. In order to prevent a surge in setup times and the cost involved, we suggest refraining from specialized part feeders, fixture units and manual calibration routines. To this effect we regard autonomous object registration as corner stone to lower the manual calibration effort. In this work, we propose a framework for autonomous object registration in robotic workcells using a combination of visual and touch-based sensing. Vision systems in process automation often require very defined conditions to produce reliable pose estimates. Therefore, we combine data from a vision system with touch-based sensing in order to benefit from both sensing modalities and reduce the requirements on the vision system. We use a particle filter approach in order to estimate the pose of individual features and show how to retrieve the overall pose of an object in the workcell from the feature estimates. The observed feature distribution is used to autonomously trigger dedicated actions for touch-based probing with a lightweight robotic arm in order to increase the accuracy. In particular, we describe the detection of circular features and validated the framework in experiments with our robotic assembly system.

Item URL in elib:https://elib.dlr.de/132693/
Document Type:Conference or Workshop Item (Speech)
Title:Combined Visual and Touch-Based Sensing for the Autonomous Registration of Objects with Circular Features
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Sachtler, ArneUNSPECIFIEDhttps://orcid.org/0000-0003-4974-4134UNSPECIFIED
Nottensteiner, KorbinianUNSPECIFIEDhttps://orcid.org/0000-0002-6016-6235UNSPECIFIED
Kaßecker, MichaelUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Alin, Albu-SchäfferUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:2019
Journal or Publication Title:International Conference on Advanced Robotics, Proceedings, ICAR
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/ICAR46387.2019.8981602
Status:Published
Keywords:Self-Localization, Perception, Tactile Sensing, Visual Sensing, Feature Detection
Event Title:19th International Conference on Advanced Robotics (ICAR)
Event Location:Belo Horizonte
Event Type:international Conference
Event Dates:2-6 Dec 2019
Organizer:IEEE Robotics & Automation Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Nottensteiner, Korbinian
Deposited On:13 Dec 2019 13:46
Last Modified:21 Jul 2023 11:44

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  • Combined Visual and Touch-Based Sensing for the Autonomous Registration of Objects with Circular Features. (deposited 13 Dec 2019 13:46) [Currently Displayed]

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