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Visual and Tactile Fusion for Estimating the Pose of a Grasped Object

Alvarez, David and Roa Garzon, Máximo Alejandro and Moreno, Luis (2020) Visual and Tactile Fusion for Estimating the Pose of a Grasped Object. In: Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019 Advances in Intelligent Systems and Computing, 1093. Springer. pp. 184-198. doi: 10.1007/978-3-030-36150-1_16. ISBN 978-3-030-36149-5.

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Official URL: https://link.springer.com/chapter/10.1007/978-3-030-36150-1_16

Abstract

This paper considers the problem of fusing vision and touch senses together to estimate the 6D pose of an object while it is grasped. Assuming that a textured 3D model of the object is available, first, Scale-Invariant Feature Transform (SIFT) keypoints of the object are extracted, and a Random sample consensus (RANSAC) method is used to match these features with the textured model. Then, optical flow is used to visually track the object while a grasp is performed. After the hand contacts the object, a tactile-based pose estimation is performed using a Particle Filter. During grasp stabilization and hand movement, the pose of the object is continuously tracked by fusing the visual and tactile estimations with an extended Kalman filter. The main contribution of this work is the continuous use of both sensing modalities to reduce the uncertainty of tactile sensing in those degrees of freedom in which there is no information available, as presented through the experimental validation.

Item URL in elib:https://elib.dlr.de/136147/
Document Type:Contribution to a Collection
Title:Visual and Tactile Fusion for Estimating the Pose of a Grasped Object
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Alvarez, DavidU. Carlos IIIUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Moreno, LuisU. Carlos IIIUNSPECIFIED
Date:2020
Journal or Publication Title:Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:1093
DOI :10.1007/978-3-030-36150-1_16
Page Range:pp. 184-198
Editors:
EditorsEmailEditor's ORCID iD
Silva, ManuelUNSPECIFIEDUNSPECIFIED
Lima, Jose LuisUNSPECIFIEDUNSPECIFIED
Reis, Luis PauloUNSPECIFIEDUNSPECIFIED
Sanfeliu, AlbertoUNSPECIFIEDUNSPECIFIED
Tardioli, DaniloUNSPECIFIEDUNSPECIFIED
Publisher:Springer
Series Name:Advances in Intelligent Systems and Computing
ISBN:978-3-030-36149-5
Status:Published
Keywords:pose estimation; sensor fusion; tactile sensors; visual information
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 - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:21 Sep 2020 11:26
Last Modified:01 Oct 2020 11:53

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