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A Comprehensive Study of 3-D Vision-Based Robot Manipulation
Cong Y(丛杨)1,2; Chen RH(陈荣瀚)1,2,3; Ma BT(马兵涛)1,2,3; Liu HS(刘洪森)4; Hou DD(侯冬冬)1,2,3; Yang, Chenguang5
Department机器人学研究室
Source PublicationIEEE Transactions on Cybernetics
ISSN2168-2267
2021
Pages1-17
Indexed ByEI
EI Accession number20213910953821
Contribution Rank1
Funding OrganizationNational Key Research and Development Program of China under Grant 2019YFB1310300 ; NSFC under Grant 61821005 and Grant 61722311
Keyword3-D object recognition grasping estimation motion planning pose estimation robot manipulation
Abstract

Robot manipulation, for example, pick-and-place manipulation, is broadly used for intelligent manufacturing with industrial robots, ocean engineering with underwater robots, service robots, or even healthcare with medical robots. Most traditional robot manipulations adopt 2-D vision systems with plane hypotheses and can only generate 3-DOF (degrees of freedom) pose accordingly. To mimic human intelligence and endow the robot with more flexible working capabilities, 3-D vision-based robot manipulation has been studied. However, this task is still challenging in the open world especially for general object recognition and pose estimation with occlusion in cluttered backgrounds and human-like flexible manipulation. In this article, we propose a comprehensive analysis of recent progress about the 3-D vision for robot manipulation, including 3-D data acquisition and representation, robot-vision calibration, 3-D object detection/recognition, 6-DOF pose estimation, grasping estimation, and motion planning. We then present some public datasets, evaluation criteria, comparisons, and challenges. Finally, the related application domains of robot manipulation are given, and some future directions and open problems are studied as well.

Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/29693
Collection机器人学研究室
Corresponding AuthorCong Y(丛杨)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.JD.com, Inc., Beijing 100176, China
5.School of Automation Science and Engineering, South China University of Technology, Guangzhou 510641, China
Recommended Citation
GB/T 7714
Cong Y,Chen RH,Ma BT,et al. A Comprehensive Study of 3-D Vision-Based Robot Manipulation[J]. IEEE Transactions on Cybernetics,2021:1-17.
APA Cong Y,Chen RH,Ma BT,Liu HS,Hou DD,&Yang, Chenguang.(2021).A Comprehensive Study of 3-D Vision-Based Robot Manipulation.IEEE Transactions on Cybernetics,1-17.
MLA Cong Y,et al."A Comprehensive Study of 3-D Vision-Based Robot Manipulation".IEEE Transactions on Cybernetics (2021):1-17.
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