A Comprehensive Study of 3-D Vision-Based Robot Manipulation
| العنوان: | A Comprehensive Study of 3-D Vision-Based Robot Manipulation |
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| المؤلفون: | Yang Cong, Dongdong Hou, Ronghan Chen, Bingtao Ma, Chenguang Yang, Hongsen Liu |
| المصدر: | IEEE Transactions on Cybernetics. 53:1682-1698 |
| بيانات النشر: | Institute of Electrical and Electronics Engineers (IEEE), 2023. |
| سنة النشر: | 2023 |
| مصطلحات موضوعية: | Human intelligence, Computer science, Degrees of freedom, Cognitive neuroscience of visual object recognition, Representation (systemics), Object detection, Computer Science Applications, Human-Computer Interaction, Control and Systems Engineering, Human–computer interaction, Robot, Motion planning, Electrical and Electronic Engineering, Pose, Software, Information Systems |
| الوصف: | Robot manipulation, for example, pick-and-place manipulation, is broadly used for intelligent manufacturing with industrial robots, ocean engineering with underwater robots, service robots, or even healthcare with medical robots. Most traditional robot manipulations adopt 2-D vision systems with plane hypotheses and can only generate 3-DOF (degrees of freedom) pose accordingly. To mimic human intelligence and endow the robot with more flexible working capabilities, 3-D vision-based robot manipulation has been studied. However, this task is still challenging in the open world especially for general object recognition and pose estimation with occlusion in cluttered backgrounds and human-like flexible manipulation. In this article, we propose a comprehensive analysis of recent progress about the 3-D vision for robot manipulation, including 3-D data acquisition and representation, robot-vision calibration, 3-D object detection/recognition, 6-DOF pose estimation, grasping estimation, and motion planning. We then present some public datasets, evaluation criteria, comparisons, and challenges. Finally, the related application domains of robot manipulation are given, and some future directions and open problems are studied as well. |
| تدمد: | 2168-2275 2168-2267 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d04b03e3e4a462fdd55efc80fc52c115 https://doi.org/10.1109/tcyb.2021.3108165 |
| حقوق: | CLOSED |
| رقم الأكسشن: | edsair.doi.dedup.....d04b03e3e4a462fdd55efc80fc52c115 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 21682275 21682267 |
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