Research output per year
Research output per year
Lakshadeep Naik*, Thorbjorn Mosekjaer Iversen, Aljaz Kramberger, Jakob Wilm, Norbert Kruger
Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review
The ability to track the 6D pose distribution of an object when a mobile manipulator robot is still approaching the object can enable the robot to pre-plan grasps that combine base and arm motion. However, tracking a 6D object pose distribution from a distance can be challenging due to the limited view of the robot camera. In this work, we present a framework that fuses observations from external stationary cameras with a moving robot camera and sequentially tracks it in time to enable 6D object pose distribution tracking from a distance. We model the object pose posterior as a multi-modal distribution which results in a better performance against uncertainties introduced by large camera-object distance, occlusions and object geometry. We evaluate the proposed framework on a simulated multi-view dataset using objects from the YCB data set. Results show that our framework enables accurate tracking even when the robot camera has poor visibility of the object.
Original language | English |
---|---|
Title of host publication | 2022 International Conference on Robotics and Automation (ICRA) |
Publisher | IEEE |
Publication date | 2022 |
Pages | 1554-1561 |
ISBN (Electronic) | 9781728196817 |
DOIs | |
Publication status | Published - 2022 |
Event | 39th IEEE International Conference on Robotics and Automation, ICRA 2022 - Philadelphia, United States Duration: 23. May 2022 → 27. May 2022 |
Conference | 39th IEEE International Conference on Robotics and Automation, ICRA 2022 |
---|---|
Country/Territory | United States |
City | Philadelphia |
Period | 23/05/2022 → 27/05/2022 |
Sponsor | IEEE, IEEE Robotics and Automation Society |
Series | IEEE International Conference on Robotics and Automation |
---|---|
ISSN | 1050-4729 |
Research output: Thesis › Ph.D. thesis
Naik, L. (Creator), Zenodo, 16. Feb 2022
Dataset