Active Visuo-Haptic Object Shape Completion
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00357881" target="_blank" >RIV/68407700:21230/22:00357881 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/22:00357881
Result on the web
<a href="https://doi.org/10.1109/LRA.2022.3152975" target="_blank" >https://doi.org/10.1109/LRA.2022.3152975</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2022.3152975" target="_blank" >10.1109/LRA.2022.3152975</a>
Alternative languages
Result language
angličtina
Original language name
Active Visuo-Haptic Object Shape Completion
Original language description
Recent advancements in object shape completion have enabled impressive object reconstructions using only visual input. However, due to self-occlusion, the reconstructions have high uncertainty in the occluded object parts, which negatively impacts the performance of downstream robotic tasks such as grasping. In this letter, we propose an active visuo-haptic shape completion method called Act-VH that actively computes where to touch the objects based on the reconstruction uncertainty. Act-VH reconstructs objects from point clouds and calculates the reconstruction uncertainty using IGR, a recent state-of-the-art implicit surface deep neural network. We experimentally evaluate the reconstruction accuracy of Act-VH against five baselines in simulation and in the real world. We also propose a new simulation environment for this purpose. The results show that Act-VH outperforms all baselines and that an uncertainty-driven haptic exploration policy leads to higher reconstruction accuracy than a random policy and a policy driven by Gaussian Process Implicit Surfaces. As a final experiment, we evaluate Act-VH and the best reconstruction baseline on grasping 10 novel objects. The results show that Act-VH reaches a significantly higher grasp success rate than the baseline on all objects. Together, this letter opens up the door for using active visuo-haptic shape completion in more complex cluttered scenes.
Czech name
—
Czech description
—
Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Volume of the periodical
7
Issue of the periodical within the volume
2
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
5254-5261
UT code for WoS article
000770005100013
EID of the result in the Scopus database
2-s2.0-85125338848