Learning object manipulation skills by active sensing

2012 Fiscal Year Final Research Report

• Project/Area Number: 23700235
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Wakayama University
• Principal Investigator: OGAWARA Koichi 和歌山大学, システム工学部, 准教授 (70452810)
• Project Period (FY): 2011 – 2012
• Keywords: 人間行動理解 / 3次元形状計測 / ロボットハンド / ステレオ計測 / 位置推定

Research Abstract

Toward autonomous learning of robot behavior in dynamically changing environment, we developed a method of measuring 3D geometry of an unknown object by combining active manipulation with robot hands and structure from motion technique. We also developed an accurate 3D rigid object tracking method by integrating multi-baseline stereo and pose estimation.