Development of perception module for bobotic manipulation tasks
Robots performing manipulation tasks require the accurate location and orientation of an object in space. Previously, at the Robotics Laboratory of IOC-UPC this data has been generated artificially. In order to automate the process, a perception module has been developed for providing task and motio...
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| Format: | master thesis |
| Publication Date: | 2022 |
| Country: | España |
| Institution: | Universitat Politècnica de Catalunya (UPC) |
| Repository: | UPCommons. Portal del coneixement obert de la UPC |
| Language: | English |
| OAI Identifier: | oai:upcommons.upc.edu:2117/372657 |
| Online Access: | https://hdl.handle.net/2117/372657 |
| Access Level: | Open access |
| Keyword: | Robot vision -- Mathematical models -- Software Computer vision -- Calibration -- Testing Visió artificial (Robòtica) -- Models matemàtics -- Programari Visió per ordinador -- Calibratge -- Proves Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Summary: | Robots performing manipulation tasks require the accurate location and orientation of an object in space. Previously, at the Robotics Laboratory of IOC-UPC this data has been generated artificially. In order to automate the process, a perception module has been developed for providing task and motion planners with the localization and pose estimation of objects used in robot manipulation tasks. The Robot Operating System provided a great framework for incorporating vision provided by Microsoft Kinect V2 sensors and the presentation of obtained data to be used in the generation of Planning Domain Definition Language files, which define a robots environment. Localization and pose estimation was done using fiducial markers along with studying possible enhancements using deep learning methods. Perfectly calibrating hardware and setting up a system play a big role in enhancing perception accuracy and while fiducial markers provide a simple and robust solution in laboratory conditions, real world applications with varying lighting, viewing angles and partial occlusions should rely on AI vision |
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