A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot

Dimitrios Papageorgiou; Leonidas Koutras; Zoe Doulgeri

A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot

Robotics 2021-12-20 v1

Authors: Dimitrios Papageorgiou , Leonidas Koutras , Zoe Doulgeri

Abstract

In this work, a control scheme for approaching and unveiling a partially occluded object of interest is proposed.The control scheme is based only on the classified point cloud obtained by the in-hand camera attached to the robot's end effector. It is shown that the proposed controller reaches in the vicinity of the object progressively unveiling the neighborhood of each visible point of the object of interest. It can therefore potentially achieve the complete unveiling of the object. The proposed control scheme is evaluated through simulations and experiments with a UR5e robot with an in-hand RealSense camera on a mock-up vine setup for unveiling the stem of a grape.

Keywords

eye-in-hand robot occluded object unveiling point cloud control ur5e robot realsense camera visual servoing

Cite

@article{arxiv.2112.09487,
  title  = {A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot},
  author = {Dimitrios Papageorgiou and Leonidas Koutras and Zoe Doulgeri},
  journal= {arXiv preprint arXiv:2112.09487},
  year   = {2021}
}

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