Object-oriented reconstruction of manipulator’s working area by point cloud

Object-oriented reconstruction of manipulator’s working area by point cloud

Anton M. Korsakov
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Mathematician, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Lubov' A. Astapova
RTC, Mathematician, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Ekaterina Yu. Smirnova
RTC, Deputy Head of Research and Development Center (R&D Center), 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-47-10, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 03 August 2020

Abstract
Operations involving direct contact of the robot's gripping device with surrounding objects are among the most difficult in the field of robotics engineering. Therefore, minimizing the risk of tool damage and processing disruption is important. This can be achieved by using the information about the geometric parameters of the object in question and its relative to the grip position. This paper discusses approaches in reconstructing the surface of an object located in the working area of the manipulator using a point cloud, and also offers a method for describing the object by rotation surfaces using a noisy and incomplete point cloud obtained using a stereoscopic system installed on the final link of the manipulator.

Key words
Computer vision; manipulator; reconstruction of the work area, object-oriented segmentation.

DOI
https://doi.org/10.31776/RTCJ.8305

Bibliographic description
Korsakov, A., Astapova, L. and Smirnova, E., 2020. Object-oriented reconstruction of manipulator’s working area by point cloud. Robotics and Technical Cybernetics, 8(3), pp.198-205.

UDC identifier:
629.053

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