QUALITY EVALUATION OF THE STABLE GRASP PLANNED ON THE BASIS OF THE 3D RECONSTRUCTION OF THE OBJECT USING MONOCAMERA IMAGES

Authors

  • Kornaga Yaroslav National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute", Ukraine
  • Vitiuk Alona National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute", Ukraine

Abstract

The article deals with the problem of estimating the quality of reconstruction of a 3d object model on the basis of a map of the environment of a mobile robot, obtained by the algorithm of simultaneous localization and mapping, in order to achieve a stable grasp of the robot end effector. The quality of the obtained models is analyzed on the basis of the success of the grasps in the developed system for the processing of visual data from the mobile robot mono camera and the planning of the stable grasp of the target object.

Key words: 3d reconstruction, object grasping, simultaneous localization and mapping

Table.: 1. Bibl.: 14.

Published

2023-11-08

Issue

2018

Section

IoT, Real Time Systems