Probabilistic visual verification for robotic assembly manipulation

Changhyun Choi; Daniela Rus

doi:10.1109/ICRA.2016.7487786

Probabilistic visual verification for robotic assembly manipulation

Changhyun Choi, Daniela Rus

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

In this paper we present a visual verification approach for robotic assembly manipulation which enables robots to verify their assembly state. Given shape models of objects and their expected placement configurations, our approach estimates the probability of the success of the assembled state using a depth sensor. The proposed approach takes into account uncertainties in object pose. Probability distributions of depth and surface normal depending on the uncertainties are estimated to classify the assembly state in a Bayesian formulation. The effectiveness of our approach is validated in comparative experiments with other approaches.

Original language	English (US)
Title of host publication	2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5656-5663
Number of pages	8
ISBN (Electronic)	9781467380263
DOIs	https://doi.org/10.1109/ICRA.2016.7487786
State	Published - Jun 8 2016
Event	2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden Duration: May 16 2016 → May 21 2016

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2016-June
ISSN (Print)	1050-4729

Other

Other	2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Country	Sweden
City	Stockholm
Period	5/16/16 → 5/21/16

Bibliographical note

Funding Information:
This work was supported by the Boeing Company

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10.1109/ICRA.2016.7487786

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Choi, C., & Rus, D. (2016). Probabilistic visual verification for robotic assembly manipulation. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (pp. 5656-5663). [7487786] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2016-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487786

Probabilistic visual verification for robotic assembly manipulation. / Choi, Changhyun; Rus, Daniela.

2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 5656-5663 7487786 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2016-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Choi, C & Rus, D 2016, Probabilistic visual verification for robotic assembly manipulation. in 2016 IEEE International Conference on Robotics and Automation, ICRA 2016., 7487786, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2016-June, Institute of Electrical and Electronics Engineers Inc., pp. 5656-5663, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, 5/16/16. https://doi.org/10.1109/ICRA.2016.7487786

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