Efficient Visuo-Haptic Object Shape Completion for Robot Manipulation
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Efficient Visuo-Haptic Object Shape Completion for Robot Manipulation
Popis výsledku v původním jazyce
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).
Název v anglickém jazyce
Efficient Visuo-Haptic Object Shape Completion for Robot Manipulation
Popis výsledku anglicky
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).
Klasifikace
Druh
D - Stať ve sborníku
CEP obor
—
OECD FORD obor
20204 - Robotics and automatic control
Návaznosti výsledku
Projekt
<a href="/cs/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Výzkumné centrum informatiky</a><br>
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Ostatní
Rok uplatnění
2023
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název statě ve sborníku
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISBN
978-1-6654-9190-7
ISSN
2153-0858
e-ISSN
2153-0866
Počet stran výsledku
8
Strana od-do
3121-3128
Název nakladatele
IEEE
Místo vydání
Piscataway
Místo konání akce
Detroit, MA
Datum konání akce
1. 10. 2023
Typ akce podle státní příslušnosti
WRD - Celosvětová akce
Kód UT WoS článku
001133658802045