Semantic 3D Reconstruction for Robotic Manipulators with an Eye-In-Hand Vision System

Applied Sciences

Xin Wang¹  Wei Guo²  Yu Fu²  Fusheng Zha²  Hegao Cai²  Pengfei Wang²  Mantian Li² 

[1] Shenzhen Academy of Aerospace Technology, Shenzhen 518057, China;State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China;

关键词: semantic 3d reconstruction;    eye-in-hand vision system;    robotic manipulator;   

DOI  :  10.3390/app10031183

来源: DOAJ

【 摘 要 】

Three-dimensional reconstruction and semantic understandings have attracted extensive attention in recent years. However, current reconstruction techniques mainly target large-scale scenes, such as an indoor environment or automatic self-driving cars. There are few studies on small-scale and high-precision scene reconstruction for manipulator operation, which plays an essential role in the decision-making and intelligent control system. In this paper, a group of images captured from an eye-in-hand vision system carried on a robotic manipulator are segmented by deep learning and geometric features and create a semantic 3D reconstruction using a map stitching method. The results demonstrate that the quality of segmented images and the precision of semantic 3D reconstruction are effectively improved by our method.

【 授权许可】

Unknown