Efficient Visuo-Haptic Object Shape Completion for Robot Manipulation

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00370922" target="_blank" >RIV/68407700:21230/23:00370922 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/IROS55552.2023.10342200" target="_blank" >https://doi.org/10.1109/IROS55552.2023.10342200</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS55552.2023.10342200" target="_blank" >10.1109/IROS55552.2023.10342200</a>

Result language

angličtina

Original language name

Efficient Visuo-Haptic Object Shape Completion for Robot Manipulation

Original language description

For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed using an implicit surface deep neural network. The location with highest uncertainty is selected for haptic exploration, the object is touched, the new information from touch and a new point cloud from the camera are added, object position is re-estimated and the cycle is repeated. We extend Rustler et al. (2022) by using a new theoretically grounded method to determine the points with highest uncertainty, and we increase the yield of every haptic exploration by adding not only the contact points to the point cloud but also incorporating the empty space established through the robot movement to the object. Additionally, the solution is compact in that the jaws of a closed two-finger gripper are directly used for exploration. The object position is re-estimated after every robot action and multiple objects can be present simultaneously on the table. We achieve a steady improvement with every touch using three different metrics and demonstrate the utility of the better shape reconstruction in grasping experiments on the real robot. On average, grasp success rate increases from 63.3 % to 70.4 % after a single exploratory touch and to 82.7% after five touches. The collected data and code are publicly available (https://osf.io/j6rkd/, https://github.com/ctu-vras/vishac).

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Research Center for Informatics</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

978-1-6654-9190-7

ISSN

2153-0858

e-ISSN

2153-0866

Number of pages

8

Pages from-to

3121-3128

Publisher name

IEEE

Place of publication

Piscataway

Event location

Detroit, MA

Event date

Oct 1, 2023

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

001133658802045