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Grasping in depth maps of time-of-flight cameras

: Kühnle, Jens; Xue, Zhixing; Stotz, Martin; Zöllner, J. Marius; Verl, Alexander; Dillmann, Rüdiger


IEEE Instrumentation and Measurement Society:
IEEE International Workshop on Robotic and Sensors Environments, ROSE 2008. Proceedings : 17-18 October 2008, Ottawa, Canada
Piscataway/NJ: IEEE, 2008
ISBN: 978-1-4244-2595-2
ISBN: 978-1-4244-2594-5
International Workshop on Robotic and Sensors Environments (ROSE) <2008, Ottawa>
Fraunhofer IPA ()
object recognition; object localisation; calibration; robotic manipulation; time-of-flight; Objekterkennung; Handhaben; Kalibrieren

The recognition and localizaton of objects in space is of fundamental interest in many robot vision applications, especially in those that are supposed to provide services to human beings. The trivial example of any such task is manipulation, i.e., providing a robot the means of handling objects. In this work, we discuss the chances and the problems experienced when using a time-of-flight camera as the only measurement device of an object recognizer. The localization is based on the best-fit flight camera SwissRanger SR-3000 and localize is selected set of objects in order to grasp them with a dexterous robotic hand.