Back to Search
Start Over
Inferring 3D Shapes of Unknown Rigid Objects in Clutter Through Inverse Physics Reasoning
- Source :
- IEEE Robotics and Automation Letters. 4:201-208
- Publication Year :
- 2019
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2019.
-
Abstract
- We present a probabilistic approach for building, on the fly, three dimensional (3D) models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most manipulation algorithms for performing such tasks require known geometric models of the objects in order to grasp or rearrange them robustly. One of the novel aspects of this work is the utilization of a physics engine for verifying hypothesized geometries in simulation. The evidence provided by physics simulations is used in a probabilistic framework that accounts for the fact that mechanical properties of the objects are uncertain. We present an efficient algorithm for inferring occluded parts of objects based on their observed motions and mutual interactions. Experiments using a robot show that this approach is efficient for constructing physically realistic 3D models, which can be useful for manipulation planning. Experiments also show that the proposed approach significantly outperforms alternative approaches in terms of shape accuracy.
- Subjects :
- FOS: Computer and information sciences
0209 industrial biotechnology
Control and Optimization
Computer Vision and Pattern Recognition (cs.CV)
Computer Science - Computer Vision and Pattern Recognition
Biomedical Engineering
Inverse
02 engineering and technology
Solid modeling
050105 experimental psychology
Computer Science::Robotics
Computer Science - Robotics
020901 industrial engineering & automation
Artificial Intelligence
0501 psychology and cognitive sciences
Physics engine
Mechanical Engineering
05 social sciences
GRASP
Probabilistic logic
Computer Science Applications
Human-Computer Interaction
Control and Systems Engineering
Task analysis
Robot
Clutter
Computer Vision and Pattern Recognition
Robotics (cs.RO)
Algorithm
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 4
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi.dedup.....6d07b32f4e4a5231daf9bacda1485d20