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Visual Servoing on Unknown Objects





We study visual servoing in a framework of detection and grasping of unknown objects. Classically, visual servoing has been used for applications where the object to be servoed on is known to the robot prior to the task execution. In addition, most of the methods concentrate on aligning the robot hand with the object without grasping it. In our work, visual servoing techniques are used as building blocks in a system capable of detecting and grasping unknown objects in natural scenes. We show how different visual servoing techniques facilitate a complete grasping cycle.

Author(s): Gratal, X. and Romero, J. and Bohg, J. and Kragic, D.
Journal: Mechatronics
Volume: 22
Number (issue): 4
Pages: 423--435
Year: 2012
Month: June
Publisher: Elsevier

Department(s): Autonome Motorik, Perzeptive Systeme
Bibtex Type: Article (article)
Paper Type: Journal

DOI: dx.doi.org/10.1016/j.mechatronics.2011.09.009
Note: Visual Servoing \{SI\}

Links: Grasping sequence video
Offline calibration video
Attachments: Pdf


  title = {Visual Servoing on Unknown Objects},
  author = {Gratal, X. and Romero, J. and Bohg, J. and Kragic, D.},
  journal = {Mechatronics},
  volume = {22},
  number = {4},
  pages = {423--435},
  publisher = {Elsevier},
  month = jun,
  year = {2012},
  note = {Visual Servoing \{SI\}},
  month_numeric = {6}