View planning for 3D object reconstruction with a mobile manipulator robot

J. Irving Vasquez-Gomez; L. Enrique Sucar; Rafael Murrieta-Cid

doi:10.1109/IROS.2014.6943158

View planning for 3D object reconstruction with a mobile manipulator robot

J. Irving Vasquez-Gomez, L. Enrique Sucar, Rafael Murrieta-Cid

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

40 Scopus citations

Abstract

The task addressed in this paper is to plan iteratively a set views in order to reconstruct an object using a mobile manipulator robot with an 'eye-in-hand' sensor. The proposed method plans views directly in the configuration space avoiding the need of inverse kinematics. It is based on a fast evaluation and rejection of a set of candidate configurations. The main contributions are: a utility function to rank the views and an evaluation strategy implemented as a series of filters. Given that the candidate views are configurations, motion planning is solved using a rapidly-exploring random tree. The system is experimentally evaluated in simulation, contrasting it with previous work. We also present experiments with a real mobile manipulator robot, demonstrating the effectiveness of our method.

Original language	English
Title of host publication	IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4227-4233
Number of pages	7
ISBN (Electronic)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6943158
State	Published - 31 Oct 2014
Externally published	Yes
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: 14 Sep 2014 → 18 Sep 2014

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/Territory	United States
City	Chicago
Period	14/09/14 → 18/09/14

Access to Document

10.1109/IROS.2014.6943158

Cite this

Vasquez-Gomez, J. I., Sucar, L. E., & Murrieta-Cid, R. (2014). View planning for 3D object reconstruction with a mobile manipulator robot. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4227-4233). Article 6943158 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943158

Vasquez-Gomez, J. Irving ; Sucar, L. Enrique ; Murrieta-Cid, Rafael. / View planning for 3D object reconstruction with a mobile manipulator robot. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 4227-4233 (IEEE International Conference on Intelligent Robots and Systems).

@inproceedings{b98441b245d74bc29c97d7546ee446be,

title = "View planning for 3D object reconstruction with a mobile manipulator robot",

abstract = "The task addressed in this paper is to plan iteratively a set views in order to reconstruct an object using a mobile manipulator robot with an 'eye-in-hand' sensor. The proposed method plans views directly in the configuration space avoiding the need of inverse kinematics. It is based on a fast evaluation and rejection of a set of candidate configurations. The main contributions are: a utility function to rank the views and an evaluation strategy implemented as a series of filters. Given that the candidate views are configurations, motion planning is solved using a rapidly-exploring random tree. The system is experimentally evaluated in simulation, contrasting it with previous work. We also present experiments with a real mobile manipulator robot, demonstrating the effectiveness of our method.",

author = "Vasquez-Gomez, {J. Irving} and Sucar, {L. Enrique} and Rafael Murrieta-Cid",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",

year = "2014",

month = oct,

day = "31",

doi = "10.1109/IROS.2014.6943158",

language = "Ingl{\'e}s",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4227--4233",

booktitle = "IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems",

address = "Estados Unidos",

}

Vasquez-Gomez, JI, Sucar, LE & Murrieta-Cid, R 2014, View planning for 3D object reconstruction with a mobile manipulator robot. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6943158, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 4227-4233, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 14/09/14. https://doi.org/10.1109/IROS.2014.6943158

View planning for 3D object reconstruction with a mobile manipulator robot. / Vasquez-Gomez, J. Irving; Sucar, L. Enrique; Murrieta-Cid, Rafael.
IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4227-4233 6943158 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - View planning for 3D object reconstruction with a mobile manipulator robot

AU - Vasquez-Gomez, J. Irving

AU - Sucar, L. Enrique

AU - Murrieta-Cid, Rafael

PY - 2014/10/31

Y1 - 2014/10/31

N2 - The task addressed in this paper is to plan iteratively a set views in order to reconstruct an object using a mobile manipulator robot with an 'eye-in-hand' sensor. The proposed method plans views directly in the configuration space avoiding the need of inverse kinematics. It is based on a fast evaluation and rejection of a set of candidate configurations. The main contributions are: a utility function to rank the views and an evaluation strategy implemented as a series of filters. Given that the candidate views are configurations, motion planning is solved using a rapidly-exploring random tree. The system is experimentally evaluated in simulation, contrasting it with previous work. We also present experiments with a real mobile manipulator robot, demonstrating the effectiveness of our method.

AB - The task addressed in this paper is to plan iteratively a set views in order to reconstruct an object using a mobile manipulator robot with an 'eye-in-hand' sensor. The proposed method plans views directly in the configuration space avoiding the need of inverse kinematics. It is based on a fast evaluation and rejection of a set of candidate configurations. The main contributions are: a utility function to rank the views and an evaluation strategy implemented as a series of filters. Given that the candidate views are configurations, motion planning is solved using a rapidly-exploring random tree. The system is experimentally evaluated in simulation, contrasting it with previous work. We also present experiments with a real mobile manipulator robot, demonstrating the effectiveness of our method.

UR - http://www.scopus.com/inward/record.url?scp=84911466884&partnerID=8YFLogxK

U2 - 10.1109/IROS.2014.6943158

DO - 10.1109/IROS.2014.6943158

M3 - Contribución a la conferencia

AN - SCOPUS:84911466884

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 4227

EP - 4233

BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014

Y2 - 14 September 2014 through 18 September 2014

ER -

Vasquez-Gomez JI, Sucar LE, Murrieta-Cid R. View planning for 3D object reconstruction with a mobile manipulator robot. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 4227-4233. 6943158. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2014.6943158

View planning for 3D object reconstruction with a mobile manipulator robot

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this