Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System
This paper describes a system which locates and grasps doughnut shaped parts from a pile. The system uses photometric stereo and binocular stereo as vision input tools. Photometric stereo is used to make surface orientation measurements. With this information the camera field is segmented int...
| Main Authors: | , , , , |
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6401 |
| _version_ | 1811094250969890816 |
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| author | Ikeuchi, Katsushi Nishihara, Keith H. Horn, Berthold K.P. Sobalvarro, Patrick Nagata, Shigemi |
| author_facet | Ikeuchi, Katsushi Nishihara, Keith H. Horn, Berthold K.P. Sobalvarro, Patrick Nagata, Shigemi |
| author_sort | Ikeuchi, Katsushi |
| collection | MIT |
| description | This paper describes a system which locates and grasps doughnut shaped parts from a pile. The system uses photometric stereo and binocular stereo as vision input tools. Photometric stereo is used to make surface orientation measurements. With this information the camera field is segmented into isolated regions of continuous smooth surface. One of these regions is then selected as the target region. The attitude of the physical object associated with the target region is determined by histograming surface orientations over that region and comparing with stored histograms obtained from prototypical objects. Range information, not available from photometric stereo is obtained by the PRISM binocular stereo system. A collision-free grasp configuration and approach trajectory is computed and executed using the attitude, and range data. |
| first_indexed | 2024-09-23T15:57:07Z |
| id | mit-1721.1/6401 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:57:07Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/64012019-04-12T08:30:33Z Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System Ikeuchi, Katsushi Nishihara, Keith H. Horn, Berthold K.P. Sobalvarro, Patrick Nagata, Shigemi This paper describes a system which locates and grasps doughnut shaped parts from a pile. The system uses photometric stereo and binocular stereo as vision input tools. Photometric stereo is used to make surface orientation measurements. With this information the camera field is segmented into isolated regions of continuous smooth surface. One of these regions is then selected as the target region. The attitude of the physical object associated with the target region is determined by histograming surface orientations over that region and comparing with stored histograms obtained from prototypical objects. Range information, not available from photometric stereo is obtained by the PRISM binocular stereo system. A collision-free grasp configuration and approach trajectory is computed and executed using the attitude, and range data. 2004-10-04T14:55:01Z 2004-10-04T14:55:01Z 1984-08-01 AIM-772 http://hdl.handle.net/1721.1/6401 en_US AIM-772 5501506 bytes 4314324 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Ikeuchi, Katsushi Nishihara, Keith H. Horn, Berthold K.P. Sobalvarro, Patrick Nagata, Shigemi Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System |
| title | Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System |
| title_full | Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System |
| title_fullStr | Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System |
| title_full_unstemmed | Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System |
| title_short | Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System |
| title_sort | determining grasp points using photometric stereo and the prism binocular stereo system |
| url | http://hdl.handle.net/1721.1/6401 |
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