Edge-Based Recognition of Novel Objects for Robotic Grasping
This addresses the challenge of enabling robots to grasp unknown objects in real-world settings, though it appears incremental as it builds on existing edge-based and geometric analysis methods.
The paper tackles the problem of robotic grasping of novel objects in unstructured environments by proposing a framework that localizes contact regions on depth edges from a single 2D depth image, and validates it using a Baxter manipulator with scenes containing single and multiple objects.
In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework for grasping unknown objects by localizing contact regions on the contours formed by a set of depth edges in a single view 2D depth image. According to the edge geometric features obtained from analyzing the data of the depth map, the contact regions are determined. Finally,We validate the performance of the approach by applying it to the scenes with both single and multiple objects, using Baxter manipulator.