机器人
计算机科学
人工智能
姿势
计算机视觉
个人机器人
对象(语法)
代表(政治)
社交机器人
机器视觉
人机交互
机器人控制
移动机器人
政治学
政治
法学
作者
Yang Cong,Ronghan Chen,Bingtao Ma,Hongsen Liu,Dongdong Hou,Chenguang Yang
出处
期刊:IEEE transactions on cybernetics
[Institute of Electrical and Electronics Engineers]
日期:2023-03-01
卷期号:53 (3): 1682-1698
被引量:26
标识
DOI:10.1109/tcyb.2021.3108165
摘要
Robot manipulation, for example, pick-and-place manipulation, is broadly used for intelligent manufacturing with industrial robots, ocean engineering with underwater robots, service robots, or even healthcare with medical robots. Most traditional robot manipulations adopt 2-D vision systems with plane hypotheses and can only generate 3-DOF (degrees of freedom) pose accordingly. To mimic human intelligence and endow the robot with more flexible working capabilities, 3-D vision-based robot manipulation has been studied. However, this task is still challenging in the open world especially for general object recognition and pose estimation with occlusion in cluttered backgrounds and human-like flexible manipulation. In this article, we propose a comprehensive analysis of recent progress about the 3-D vision for robot manipulation, including 3-D data acquisition and representation, robot-vision calibration, 3-D object detection/recognition, 6-DOF pose estimation, grasping estimation, and motion planning. We then present some public datasets, evaluation criteria, comparisons, and challenges. Finally, the related application domains of robot manipulation are given, and some future directions and open problems are studied as well.
科研通智能强力驱动
Strongly Powered by AbleSci AI