Merging Local and Global 3D Perception for Robotic Grasping and Manipulation

Graduate Thesis Or Dissertation

Citations

Citeable URL: https://scholar.colorado.edu/concern/graduate_thesis_or_dissertations/cf95jb81x

Abstract

This paper presents our results towards fusing RGB-D images with data from contact and proximity sensors embedded in a robotic hand for improved object perception, recognition and manipulation. Optical depth information from multiple sensors is often inaccurate and inconsistent. These problems arise from problems with sensor calibration, but also occlusion of objects by other objects or the robot arm itself. In this paper, we propose to combine global pose information from RGB-D sensing with local proximity sensing during approach. Here, we use contact information based on a novel contact sensor and additional pose information provided by the arm's pose.

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