Interactive Segmentation, Tracking, and Kinematic Modeling of Unknown Articulated Objects

Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
tech. report CMU-RI-TR-12-06, Robotics Institute, Carnegie Mellon University, March, 2012


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Abstract
We present an interactive perceptual skill for segmenting, tracking, and kinematic modeling of 3D articulated objects. This skill is a prerequisite for general manipu- lation in unstructured environments. Robot-environment interaction is used to move an unknown object, creating a perceptual signal that reveals the kinematic properties of the object. The resulting perceptual information can then inform and facilitate fur- ther manipulation. The algorithm is computationally efficient, handles occlusion, and depends on little object motion; it only requires sufficient texture for visual feature tracking. We conducted experiments with everyday objects on a mobile manipula- tion platform equipped with an RGB-D sensor. The results demonstrate the robustness of the proposed method to lighting conditions, object appearance, size, structure, and configuration.

Keywords
Interactive perception, segmentation, kinematic modeling, robotics

Notes
Associated Center(s) / Consortia: National Robotics Engineering Center

Text Reference
Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz, "Interactive Segmentation, Tracking, and Kinematic Modeling of Unknown Articulated Objects," tech. report CMU-RI-TR-12-06, Robotics Institute, Carnegie Mellon University, March, 2012

BibTeX Reference
@techreport{Katz_2012_7030,
   author = "Dov Katz and Moslem Kazemi and J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz",
   title = "Interactive Segmentation, Tracking, and Kinematic Modeling of Unknown Articulated Objects",
   booktitle = "",
   institution = "Robotics Institute",
   month = "March",
   year = "2012",
   number= "CMU-RI-TR-12-06",
   address= "Pittsburgh, PA",
}