Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments

In this article, we describe efficient methods for tackling everyday mobile manipulation tasks that require object pick-up. In order to achieve real-time performance in complex environments, we focus our approach on fast yet robust solutions. For 3D perception of objects on planar surfaces, we devel...

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Veröffentlicht in:	Robotics and autonomous systems 2013-10, Vol.61 (10), p.1106-1115
Hauptverfasser:	Stückler, Jörg, Steffens, Ricarda, Holz, Dirk, Behnke, Sven
Format:	Artikel
Sprache:	eng
Schlagworte:	Competition Domestic Grasp planning Mobile manipulation Perception Real time Scene segmentation Segmentation Tasks Three dimensional Three dimensional models
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