6D object localization and obstacle detection for collision-free manipulation with a mobile service robot

Author

Kuehnle, Jens ; Verl, Alexander ; Xue, Zhixing ; Ruehl, Steffen ; Zoellner, J. Marius ; Dillmann, Ruediger ; Grundmann, Thilo ; Eidenberger, Robert ; Zoellner, Raoul D.

Author_Institution

Fraunhofer IPA, Stuttgart, Germany

fYear

2009

Firstpage

1

Lastpage

6

Abstract

The main goal of mobile service robots is to assist human beings in everyday life. Instead of limiting treatment to just artificial, structured lab areas, such systems must in particular be able to operate well in human, unstructured environments. In this paper we present an approach to recognize and localize as well as reliably and robustly manipulate objects in the presence of obstacles. Our method was implemented, fully integrated and presented on the 2009 CeBIT technology show in Hanover, Germany using the experimental robot of the DESIRE project.

Keywords

collision avoidance; manipulators; mobile robots; robot vision; service robots; 6D object localization; collision-free manipulation; mobile service robot; obstacle detection; Cameras; Head; Humans; Layout; Manipulator dynamics; Object detection; Object recognition; Robot vision systems; Robustness; Service robots; 3D time-of-flight camera; 6D object localization; manipulation; obstacle detection; stereo vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 2009. ICAR 2009. International Conference on

Print_ISBN

978-1-4244-4855-5

Electronic_ISBN

978-3-8396-0035-1

Type

conf

Filename

5174758