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Depth-Based Tracking with Physical Constraints for Robot Manipulation

Schmidt, Tanner and Hertkorn, Katharina and Newcombe, Richard and Marton, Zoltan Csaba and Suppa, Michael and Fox, Dieter (2015) Depth-Based Tracking with Physical Constraints for Robot Manipulation. In: IEEE International Conference on Robotics and Automation (ISSN: 1042-296X). IEEE International Conference on Robotics and Automation, 26-30 May 2015, Seattle, USA. ISSN 1042-296X.

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This work integrates visual and physical constraints to perform real-time depth-only tracking of articulated models, with a focus on tracking a robot's manipulators and the objects they interact with in realistic scenarios. As such, we modify an existing dense visual articulated object tracker to additionally avoid interpenetration of multiple interacting objects, and to make use of contact detection by the robot. To achieve greater stability, the tracker detects when the object is stationary relative to the table or relative to the palm and then uses information from multiple frames to converge to an accurate and stable estimate. Deviation from stable states is also detected in order to remain robust to failed grasps and dropped objects. The tracker is integrated into a shared autonomy system in which it provides state estimates used by a grasp planner and the controller of two anthropomorphic hands. We demonstrate the accuracy of the tracking by comparing the estimates with an independent information source: the color stream of the sensor. Qualitative results are also provided for a number of challenging manipulations which are made possible by the speed, accuracy, and stability of the tracking system.

Item URL in elib:https://elib.dlr.de/96898/
Document Type:Conference or Workshop Item (Speech)
Title:Depth-Based Tracking with Physical Constraints for Robot Manipulation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Hertkorn, KatharinaKatharina.Hertkorn (at) dlr.deUNSPECIFIED
Marton, Zoltan Csabazoltan.marton (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Date:May 2015
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ISSN: 1042-296X)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:object tracking shared autonomy manipulation grasping
Event Title:IEEE International Conference on Robotics and Automation
Event Location:Seattle, USA
Event Type:international Conference
Event Dates:26-30 May 2015
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: Hertkorn, Katharina
Deposited On:26 Jun 2015 10:29
Last Modified:09 Feb 2017 19:21

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