Calibration-Free Monocular Vision-Based Robot Manipulations With Occlusion Awareness
文献类型：期刊论文
| 作者 | Luo, Yongle2; Dong, Kun2; Zhao, Lili2; Sun, Zhiyong2; Cheng, Erkang2; Kan, Honglin2; Zhou, Chao1,3 ; Song, Bo2
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| 刊名 | IEEE ACCESS
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| 出版日期 | 2021 |
| 卷号 | 9 |
| 关键词 | Robots Cameras Data models Robot kinematics Training Three-dimensional displays Robot vision systems Monocular vision reinforcement learning reward shaping robot manipulation |
| ISSN号 | 2169-3536 |
| DOI | 10.1109/ACCESS.2021.3082947 |
| 通讯作者 | Song, Bo(songbo@iim.ac.cn) |
| 英文摘要 | Vision-based manipulation has been largely used in various robot applications. Normally, in order to obtain the spatial information of the operated target, a carefully calibrated stereo vision system is required. However, it limits the application of robots in the unstructured environment which limits both the number and the pose of the camera. In this study, a calibration-free monocular vision-based robot manipulation approach is proposed based on domain randomization and deep reinforcement learning (DRL). Firstly, a learning strategy combined domain randomization is developed to estimate the spatial information of the target from a single monocular camera arbitrarily mounted in a large area of the manipulation environment. Secondly, to address the monocular occlusion problem which regularly happens during robot manipulations, an occlusion awareness DRL policy has been designed to control the robot to avoid occlusions actively in the manipulation tasks. The performance of our method has been evaluated on two common manipulation tasks, reaching and lifting of a target building block, which show the efficiency and effectiveness of our proposed approach. |
| 资助项目 | Key Research Development Program (KRDP) of Anhui Province[201904a05020086] ; NSFC[61804100] ; NSFC[61973294] ; NSFC[61806181] ; Chinese Academy of Science (CAS)[GJTD-2018-15] |
| WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
| 语种 | 英语 |
| WOS记录号 | WOS:000673198100001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Key Research Development Program (KRDP) of Anhui Province ; NSFC ; Chinese Academy of Science (CAS) |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/123571]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Song, Bo |
| 作者单位 | 1.Univ Twente, Fac Sci & Technol, NL-7522 NB Enschede, Netherlands 2.Chinese Acad Sci, Inst Intelligent Machines, Hefei 230031, Peoples R China 3.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China |
| 推荐引用方式 GB/T 7714 | Luo, Yongle,Dong, Kun,Zhao, Lili,et al. Calibration-Free Monocular Vision-Based Robot Manipulations With Occlusion Awareness[J]. IEEE ACCESS,2021,9. |
| APA | Luo, Yongle.,Dong, Kun.,Zhao, Lili.,Sun, Zhiyong.,Cheng, Erkang.,...&Song, Bo.(2021).Calibration-Free Monocular Vision-Based Robot Manipulations With Occlusion Awareness.IEEE ACCESS,9. |
| MLA | Luo, Yongle,et al."Calibration-Free Monocular Vision-Based Robot Manipulations With Occlusion Awareness".IEEE ACCESS 9(2021). |
入库方式： OAI收割
来源：合肥物质科学研究院
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