Bibliograph. Daten | Zielke, Viktor: Design and implementation of Next-Best-View algorithms for automatic robotic-based (dis)assembly tasks. Universität Stuttgart, Fakultät Informatik, Elektrotechnik und Informationstechnik, Diplomarbeit (2016). 75 Seiten, englisch.
|
CR-Klassif. | I.2.9 (Robotics) I.2.10 (Vision and Scene Understanding)
|
Kurzfassung | Robots tasked with the autonomous interaction of objects, such as assembly and disassembly tasks, in a dynamic environment require the ability to explore their environment and detect objects for interactions. State-of-the-art methods exist which can handle these tasks separately. This work describes a method for combining both tasks and therefor reduce the amount of costly operations like motion and sensing. A next-best-view system is developed which incrementally builds a map of the environment and enables the selection of view poses for an eye-in-hand robot system. The system and the performance of the selected view poses is evaluated on a robotic system. The evaluations showed that the method selected view poses which explored the environment and detected objects.
|
Volltext und andere Links | PDF (3646324 Bytes)
|
Abteilung(en) | Universität Stuttgart, Institut für Parallele und Verteilte Systeme, Maschinelles Lernen und Robotik
|
Betreuer | Toussaint, Prof. Marc; Friedrich, Christian |
Eingabedatum | 3. Juli 2018 |
---|