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

摘要: In this article, we describe efficient methods for tackling everyday mobile manipulation tasks that require object pick-up. order to achieve real-time performance in complex environments, focus our approach on fast yet robust solutions. For 3D perception of objects planar surfaces, develop scene segmentation process depth images at high frame rates. We efficiently plan feasible, collision-free grasps the segmented directly from perceived point clouds execution times. evaluate approaches quantitatively lab experiments and also report successful integration public demonstrations [email protected] competitions 2011 2012.