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Integration of 6D object localization and obstacle detection for collision free robotic manipulation

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

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Institute of Electrical and Electronics Engineers -IEEE-; Society of Instrument and Control Engineers of Japan:
SI International 2008, First Symposium on System Integration : IEEE International Symposium, Nagoya, Japan, December 4th, 2008
New York, NY: IEEE, 2008
ISBN: 978-1-4244-3838-9
International Symposium on System Integration <1, 2008, Nagoya>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
time-of-flight; 6D object localization; manipulation; obstacle detection; Kollisionsvermeidung; Hinderniserkennung; Objekterkennung

The major goal of research regarding mobile service robotics is to enable a robot to assist human beings in their everyday life. This implies that the robot will have to deal with everyday life environments. One of the most important steps towards able service robots is to enhance the ability to operate well in unstructured living environments. In this paper we focus on the integration of object recognition, obstacle detection and collision free manipulation to increase the service robots manipulation abilities in the context of highly unstructured environments.