Spatial constraint identification of parts in SE3 for action optimization

Jimmy Alison Jørgensen, Nadezda Rukavishnikova, Norbert Kruger, Henrik Gordon Petersen

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

In this paper we present a method to structure contextual knowledge in spatial regions/manifolds that may be used in action selection for industrial robotic systems. The contextual knowledge is build on relatively few prior task executions and it may be derived from either teleoperation or previous action executions. We argue that our contextual representation is able to improve the execution speed of individual actions and demonstrate this on a specific time-consuming action of object detection and pose estimation. Our contextual knowledge representation is especially suited for industrial environments where repetitive tasks such as bin-and belt picking are plentiful. We present how we classify and detect the contextual information from prior task executions and demonstrate the performance gain on a real industrial pick-and-place problem.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
PublisherIEEE
Publication date2015
Pages474-480
DOIs
Publication statusPublished - 2015
Event2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain
Duration: 17. Mar 201519. Mar 2015

Conference

Conference2015 IEEE International Conference on Industrial Technology, ICIT 2015
CountrySpain
CitySeville
Period17/03/201519/03/2015

Fingerprint

Knowledge representation
Bins
Remote control
Robotics
Object detection

Cite this

Jørgensen, J. A., Rukavishnikova, N., Kruger, N., & Petersen, H. G. (2015). Spatial constraint identification of parts in SE3 for action optimization. In Proceedings of the IEEE International Conference on Industrial Technology (pp. 474-480). IEEE. https://doi.org/10.1109/ICIT.2015.7125144
Jørgensen, Jimmy Alison ; Rukavishnikova, Nadezda ; Kruger, Norbert ; Petersen, Henrik Gordon. / Spatial constraint identification of parts in SE3 for action optimization. Proceedings of the IEEE International Conference on Industrial Technology. IEEE, 2015. pp. 474-480
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Jørgensen, JA, Rukavishnikova, N, Kruger, N & Petersen, HG 2015, Spatial constraint identification of parts in SE3 for action optimization. in Proceedings of the IEEE International Conference on Industrial Technology. IEEE, pp. 474-480, 2015 IEEE International Conference on Industrial Technology, ICIT 2015, Seville, Spain, 17/03/2015. https://doi.org/10.1109/ICIT.2015.7125144

Spatial constraint identification of parts in SE3 for action optimization. / Jørgensen, Jimmy Alison; Rukavishnikova, Nadezda; Kruger, Norbert; Petersen, Henrik Gordon.

Proceedings of the IEEE International Conference on Industrial Technology. IEEE, 2015. p. 474-480.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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Jørgensen JA, Rukavishnikova N, Kruger N, Petersen HG. Spatial constraint identification of parts in SE3 for action optimization. In Proceedings of the IEEE International Conference on Industrial Technology. IEEE. 2015. p. 474-480 https://doi.org/10.1109/ICIT.2015.7125144