Robotics and Computer Vision Lab

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International Conference
2011.06.07 17:34

Intelligent Grasping by Learning from Observation

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저 자 Seong-Young Ko, Hanbyul Joo, Dong-Geol Choi, Hyeongwoo Kim, In So Kweon
학 회 The 5th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2008)
논문일시(Year) 2008
논문일시(Month) 11
This paper explains the development of
intelligent grasping robot system to learn the manipulation
skill of the object and then to imitate its trajectory. The
system was developed so that it observes the posture and
the trace of the desired object, produces the trajectory for
5DoF robotic arm, and moves to mimic the trajectory
reversely. In order to extract the information of the object
in real time, the shape matching algorithm is applied to
stereo images. The center position of the object is
obtained at each image and these are utilized to calculate
the 3-D position in terms of the camera coordination
system. These points were converted in terms of the robot
coordination system, and the trajectory for robot’s motion
was generated by interpolating these points. The grasping
motion of the robotic arm is generated by using the start
position and the end position of the trajectory. It was
shown that the developed robotics system based on shape
matching method operates robustly.

List of Articles
299. Graph-based Shape Matching for Deformable Objects
Hanbyul Joo, Yekeun Jeong, Olivier Duchenne, In So Kweon
IEEE Internetional Conference on Image Processing (ICIP) 2011 / 09
298. 2D/3D Virtual Face Modeling
Soonkee Chung, Jean-Charles Bazin, In So Kweon
IEEE Internetional Conference on Image Processing (ICIP) 2011 / 09
297. Utilizing Visual Information for Path Planning of Autonomous Mobile Robot
Doogyu Kim, Jayoung Kim, Jihong Lee, Hanbyul Joo, In So Kweon
Proceedings of the World Congress on Engineering and Computer Science 2009 2009 / 10
» Intelligent Grasping by Learning from Observation
Seong-Young Ko, Hanbyul Joo, Dong-Geol Choi, Hyeongwoo Kim, In So Kweon
The 5th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2008) 2008 / 11
295. Radiometric Calibration by Transform Invariant Low-rank Structure
Joon-Young Lee, Boxin Shi, Yasuyuki Matsushita, In So Kweon, Katsushi Ikeuchi
IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2011 / 06
294. 이동 카메라에서의 물체 탐지
Minju Kim, Seong-Heum Kim, Yu-Wing Tai, In So Kweon
26th ICROS Annual Conference (학부생 포스터 세션) 2011 / 05
293. 로봇 응용을 위한 협력 및 결합 비전 시스템
Jean-Charles Bazin, Seong-Heum Kim, Dong-Geol Choi, Joon-Young Lee, In So Kweon
로봇공학회 논문지 2011 / 09
292. Two-phase Approach for Multi-view Object Extraction
Seong-Heum Kim, Yu-Wing Tai, Yunsu Bok, Hyeongwoo Kim, In So Kweon
IEEE International Conference on Image Processing (ICIP) 2011 / 09
291. 정확한 시선방향을 위한 카메라 내장 기법
Seong-Heum Kim, In So Kweon
2011년도 하계종합학술대회, 대한전자공학회 2011 / 06
290. 전방향 카메라의 All-focused 영상 생성
Dong-Gun Lee, Da-Hyun Jeon, Jean-Charles Bazin, In So Kweon
26th ICROS Annual Conference (학부생 포스터 세션) 2011 / 05
289. Hierarchical On-line Boosting based Background Subtraction
Yongcheol Lee, Jiyoung Jung, In So Kweon
17th Korea-Japan Joint Workshop on Frontiers of Computer Vision 2011 / 02
288. Complementation of Cameras and Lasers for Accurate 6D SLAM: From Correspondences To Bundle Adjustment
Yekeun Jeong, Yunsu Bok, Jun-sik Kim, In So Kweon
IEEE International Conference on Robotics and Automation (ICRA) 2011 / 05
287. An Original Approach for Automatic Plane Extraction by Omnidirectional Vision
Jean-Charles Bazin, Pierre-Yves Laffont, In So Kweon, C. Demonceaux, P. Vasseur
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2010 / 10
286. Robust visual lock-on and simultaneous localization for an unmanned aerial vehicle
Jihong Min, Yekeun Jeong, In So Kweon
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems 2010(IROS2010) 2010 / 10
285. View-invariant Planar Object Detection for VisTRo
Jiyoung Jung, Yekeun Jeong, Joon-Young Lee, Hanbyul Joo, In So Kweon
The 7th International Conference on Ubiquitou s Robots and Ambient Intelligence (URAI) 2010 / 11
284. Probabilistic Localization Using Sensor Fusion
Seunghak Shin, Jungho Kim, Jihong Min, Jaesik Park, In So Kweon
The 7th International Conference on Ubiquitou s Robots and Ambient Intelligence (URAI 2010) 2010 / 11
283. Robust Detection of Small Objects in Cluttered Environment using Deptu Cue
Jaesik Park, Yekeun Jeong, Chaehoon Park, In So Kweon
The 7th International Conference on Ubiquitou s Robots and Ambient Intelligence (URAI 2010) 2010 / 11
282. Metric reconstruction of planes utilizing off-the-plane features
Jun-sik Kim, In So Kweon
Computer Vision and Image Understanding (CVIU) 2011 / 01
281. Capturing Village-level Heritages with a Hand-held Camera-Laser Fusion Sensor
Yunsu Bok, Yekeun Jeong, Dong-Geol Choi, In So Kweon
International Journal of Computer Vision (IJCV), vol. 94, no. 1, pp. 36-53 2011 / 08
280. Virtual Face Sculpting
Jean-Charles Bazin, Soonkee Chung, Roger Blanco Ribera, Quang Pham, In So Kweon
SIGGRAPH-poster 2010 / 07
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