Visual Grasping of Unknown Objects

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master_John_Bensam_Christina_2016.pdf (1.92 MB)

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Sähkötekniikan korkeakoulu | masterThesis
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Date

2016-10-31

Department

Major/Subject

Space Robotics and Automation

Mcode

AS3004

Degree programme

SST

Language

en

Pages

41+10

Series

Abstract

The objective of the thesis is to compare and study recent visual grasping techniques which are applied on a robotic arm for grasping of unknown objects in an indoor environment. The novelty of the thesis is that the study has led to questioning the general approach used by researchers to solve the grasping problem. The result can help future researchers in investing more on the problem areas of grasping techniques and can also lead us to question ourselves on the approach we are using to solve the grasping problem.

Description

Supervisor

Kyrki, Ville

Thesis advisor

Pajarinen, Joni

Keywords

experimental grasping comparison, symmetry height accumulated features, rectangle representation, principal component analysis

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https://urn.fi/URN:NBN:fi:aalto-201611025263

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[dipl] Sähkötekniikan korkeakoulu / ELEC