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6D object localization and obstacle detection for collision-free manipulation with a mobile service robot

 
: Kühnle, Jens; Verl, Alexander; Xue, Zhixing; Rühl, Steffen; Zöllner, J. Marius; Dillmann, Rüdiger; Grundmann, Thilo; Eidenberger, Robert; Zöllner, Raoul D.

Schraft, R.D.; Hägele, M. ; Gesellschaft für Produktionssysteme GmbH -GPS-, Stuttgart; Deutsche Gesellschaft für Robotik; IEEE Robotics and Automation Society:
ICAR 2009, 14th International Conference on Advanced Robotics. Proceedings. CD-ROM : Being held in the Munich Marriott Hotel, Germany, from June 22th to 26th, 2009
Stuttgart: Fraunhofer Verlag, 2009
ISBN: 3-8396-0035-9
ISBN: 978-3-8396-0035-1
6 pp.
International Conference on Advanced Robotics (ICAR) <14, 2009, München>
ICAR
English
Conference Paper
Fraunhofer IPA ()
DESIRE; Hinderniserkennung; Kollisionsvermeidung; time-of-flight; Laufzeitkamera; Stereo-vision; Stereobildverarbeitung; 3D-Kamera; mobiler Roboter; Serviceroboter; Objekterkennung; Kollision; Roboter

Abstract
The main goal of mobile service robots is to assist human beings in everyday life. Instead of limiting treatment to just artificial, structured lab areas, such systems must in particular be able to operate well in human, unstructured environments. In this paper we present an approach to recognize and localize as well as reliably and robustly manipulate objects in the presence of obstacles. Our method was implemented, fully integrated and presented on the 2009 CeBIT technology show in Hanover, Germany using the experimental robot of the DESIRE project.

: http://publica.fraunhofer.de/documents/N-105156.html