本文選題：未知物體分割 + 視覺分割��； 參考：《機(jī)器人》2017年04期

【摘要】：為提高機(jī)器人的視覺感知能力,提出了一種新穎的基于物體邏輯狀態(tài)推理的未知物體視覺分割方法.在語(yǔ)義層定義物體邏輯狀態(tài)空間,根據(jù)機(jī)器人抓取動(dòng)作反饋對(duì)物體邏輯狀態(tài)進(jìn)行推理.在數(shù)據(jù)層利用RGB-D攝像頭采集生成場(chǎng)景3維著色點(diǎn)云,基于物體放置于支撐平面的假設(shè),對(duì)所有可能的物體點(diǎn)進(jìn)行空間聚類和分割,得到初始未知物體集并生成物體初始邏輯狀態(tài)表示.當(dāng)物體邏輯狀態(tài)發(fā)生變化時(shí),根據(jù)設(shè)定規(guī)則結(jié)合點(diǎn)集運(yùn)算對(duì)物體點(diǎn)云進(jìn)行重新分割,物體點(diǎn)云集的變化又用于指導(dǎo)物體邏輯狀態(tài)空間的更新.在7自由度移動(dòng)機(jī)械手系統(tǒng)上,進(jìn)行了真實(shí)積木模擬環(huán)境下未知物體的視覺分割與抓取實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果證實(shí)本文方法可以有效提升機(jī)器人的視覺感知能力.
[Abstract]:In order to improve the visual perception ability of robot, a novel object segmentation method based on object logic state reasoning is proposed. The object logic state space is defined at the semantic level, and the object logic state is inferred according to the robot grab action feedback. In the data layer, RGB-D camera is used to capture and generate 3D colored point clouds. Based on the assumption that objects are placed in the support plane, all possible object points are clustered and segmented in space. The initial set of unknown objects is obtained and the initial logical state representation of the object is generated. When the logical state of the object changes, the point cloud is resegmented according to the set of set rules, and the change of the point cloud is used to guide the updating of the logical state space of the object. In the 7 DOF mobile manipulator system, the experiments of visual segmentation and grasping of unknown objects in real building block simulation environment are carried out. The experimental results show that the proposed method can effectively improve the visual perception ability of the robot.
【作者單位】： 揚(yáng)州大學(xué)水利與能源動(dòng)力工程學(xué)院;東南大學(xué)儀器科學(xué)與工程學(xué)院;
【基金】：江蘇省博士后基金(1601006C) 國(guó)家自然科學(xué)基金(61325018,61272379)
【分類號(hào)】：TP242;TP391.41
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本文編號(hào)：1944942