Six-Dimensional Target Pose Estimation for Robot Autonomous Manipulation: Methodology and Verification
文献类型：期刊论文
| 作者 | Wang, Rui2 ; Su, Congjia2,3; Yu, Hao1; Wang, Shuo4
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| 刊名 | IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS
 |
| 出版日期 | 2023-03-01 |
| 卷号 | 15期号:1页码:186-197 |
| 关键词 | Autonomous manipulation robot semantic seg-mentation target pose estimation |
| ISSN号 | 2379-8920 |
| DOI | 10.1109/TCDS.2022.3151331 |
| 通讯作者 | Wang, Shuo(shuo.wang@ia.ac.cn) |
| 英文摘要 | The autonomous and precise grasping operation of robots is considered challenging in situations where there are different objects with different shapes and postures. In this study, we proposed a method of 6-D target pose estimation for robot autonomous manipulation. The proposed method is based on: 1) a fully convolutional neural network for scene semantic segmentation and 2) fast global registration to achieve target pose estimation. To verify the validity of the proposed algorithm, we built a robot grasping operation system and used the point cloud model of the target object and its pose estimation results to generate the robot grasping posture control strategy. Experimental results showed that the proposed method can achieve a six-degree-of-freedom pose estimation for arbitrarily placed target objects and complete the autonomous grasping of the target. Comparative experiments demonstrated that the proposed target pose estimation method achieved a significant improvement in average accuracy and real-time performance compared with traditional methods. |
| 资助项目 | National Key Research and Development Program of China[2018AAA0103003] ; Beijing Nova Program[Z211100002121152] ; Beijing Municipal Natural Science Foundation[4222056] ; National Natural Science Foundation of China[U1913201] ; Youth Innovation Promotion Association CAS[2020137] |
| WOS研究方向 | Computer Science ; Robotics ; Neurosciences & Neurology |
| 语种 | 英语 |
| WOS记录号 | WOS:000965171200001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Key Research and Development Program of China ; Beijing Nova Program ; Beijing Municipal Natural Science Foundation ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53242]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Wang, Shuo |
| 作者单位 | 1.Yizhun Med AI Co Ltd, Beijing 100191, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Rui,Su, Congjia,Yu, Hao,et al. Six-Dimensional Target Pose Estimation for Robot Autonomous Manipulation: Methodology and Verification[J]. IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,2023,15(1):186-197. |
| APA | Wang, Rui,Su, Congjia,Yu, Hao,&Wang, Shuo.(2023).Six-Dimensional Target Pose Estimation for Robot Autonomous Manipulation: Methodology and Verification.IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,15(1),186-197. |
| MLA | Wang, Rui,et al."Six-Dimensional Target Pose Estimation for Robot Autonomous Manipulation: Methodology and Verification".IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS 15.1(2023):186-197. |
入库方式： OAI收割
来源：自动化研究所
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