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Title: Real-time robotic manipulation of cylindrical objects in dynamic scenarios through elliptic shape primitives
Authors: Dong, Huixu
Asadi, Ehsan
Sun, Guangbin
Prasad, Dilip Kumar
Chen, I-Ming
Keywords: Engineering::Mechanical engineering
Issue Date: 2018
Source: Dong, H., Asadi, E., Sun, G., Prasad, D. K., & Chen, I.-M. (2019). Real-time robotic manipulation of cylindrical objects in dynamic scenarios through elliptic shape primitives. IEEE Transactions on Robotics, 35(1), 95-113. doi:10.1109/tro.2018.2868804
Journal: IEEE Transactions on Robotics
Abstract: Robotic manipulation employs the object detection in images to create a scene awareness and locate an object's pose. In dynamic scenarios, fast multiobject detection and tracking are crucial. Many objects commonly found in household and industrial environments are represented by cylindrical shapes. Thus, it is available for robots to manipulate them through the real-Time detection of elliptic shape primitives formed by the circular tops of these objects. We devise an efficient algorithm of the detection of elliptic shape primitives, which in turn enables robust and real-Time robotic manipulations of such objects. The proposed algorithm incorporates the information of elliptic edge curvature, splits complex curves into arcs, classifies the arcs into different quadrants of a candidate elliptic shape, determines the quality of arc selection for ellipse fitting, and then retrieves the corresponding elliptic shape primitive. Our algorithm provides either faster or more accurate ellipse detection results than the current state-of-The-Art methods, irrespective of challenging scenarios such as occluded or overlapping ellipses. This is verified by performance comparison with six state-of-The-Art elliptic shape detection algorithms on four public image datasets. The algorithm has been integrated on robots to demonstrate the ability to carry out accurate robotic manipulations (tracking, grasping, and stacking) of cylindrical objects in real time. We show that the robotic manipulator, empowered by the elliptic shape primitive algorithm, performs well in complex manipulation experiments as well as dynamic scenarios.
ISSN: 1552-3098
DOI: 10.1109/tro.2018.2868804
Rights: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
Fulltext Permission: open
Fulltext Availability: With Fulltext
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