Skip to main content
SpringerLink
Log in
Book cover

Experimental Robotics II pp 379–387Cite as

Object understanding through visuo-motor cooperation

  • Section 7: Sensing And Perception
  • Conference paper
  • First Online:

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 190))

Abstract

The topic of this paper is to illustrate some experimental results on the acquisition of physical characteristics of real objects. These features have been extracted by observing the reactions to planned motor actions applied to the objects by a robot arm.

A system architecture for visuo-motor cooperation is presented [1], based on the integration of sensory skills both as an aid to the manipulation process and as a mean to extract information from the scene [2, 3]. Its main characteristics are the ability to cope with an unmodelized environment and the closure of the loop between sensing and acting providing though a mean of validating the effects of the robot actions. The architecture embeds a reflex mechanism to deal with potentially hazardous situations.

Two aspects are emphasized in this paper: the implementation of a self-calibration strategy and the extraction of object features from images acquired during exploratory manipulative actions.

This is a preview of subscription content, log in via an institution.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. F. Gandolfo, G. Sandini, and M. Tistarelli. Towards vision guided manipulation. In ICAR Fifth Int. Conference on Advanced Robotics, Pisa, Italy, June 1991.

    Google Scholar 

  2. R. Bajcsy and C. Tsikos. Perception via manipulation. Proc. of the Int. Symp. & Exposition on Robots, pages 237–244, 1988. November 6–10.

    Google Scholar 

  3. G. Sandini and M. Tistarelli. Understanding optical flow anomalies. Technical report, DIST University of Genoa — LIRA lab., Genoa, Italy, May 1990.

    Google Scholar 

  4. R. Bajcsy and C. Tsikos. Assembly via Disassembly: A case in Machine Perceptual Development. In Preprints of the 5th. Int. Symp. of Robotic Research, pages 303–309, 1988.

    Google Scholar 

  5. J. Aloimonos, I. Weiss, and A. Bandyopadhyay. Active vision. Intl. Journal of Computer Vision, 1(4):333–356, 1988.

    Google Scholar 

  6. P. Morasso, G. Sandini, and M. Tistarelli. Active vision: Integration of fixed and mobile cameras. In NATO ARW on Sensors and Sensory Systems for Advanced Robots, Berlin Heidelberg, 1986. Springer-Verlag.

    Google Scholar 

  7. R. Bajcsy and C. Tsikos. Perception via manipulation. In Proc. of the Int. Symp. & Exposition on Robots, pages 237–244, Sydney, Australia, November 6–10 1988.

    Google Scholar 

  8. G. Sandini and M. Tistarelli. Active tracking strategy for monocular depth inference over multiple frames. IEEE Trans. on PAMI, PAMI-12, No. 1, January 1990.

    Google Scholar 

  9. J. Aloimonos. Purposive and qualitative active vision. In Intl. Workshop on Active Control in Visual Perception, Antibes, France, April 27 1990.

    Google Scholar 

  10. D.H. Ballard, R.C. Nelson, and B. Yamauchi. Animate vision. Optics News, 15(5):17–25, 1989.

    Google Scholar 

  11. E. Grosso, G. Sandini, and C. Frigato. Extraction of 3d information and volumetric uncertainty from multiple images. Proc. ECAI-88, pages 683–688, August 1988. Munchen.

    Google Scholar 

  12. Z. Balorda. Reducing uncertainty of objects by robot pushing. In 1990 IEEE Int. Conf. on Robotics and Automation, pages 1051–1056, May 1990. Cincinnati, Ohio.

    Google Scholar 

  13. D.T. Pham, K.C. Cheung, and S.H. Yeo. Initial motion of a rectangular object being pushed or pulled. In IEEE Int. Conf. on robotics and automation, pages 1046–1050, May 1990. Cincinnati, Ohio.

    Google Scholar 

  14. M. A. Peshkin and A. C. Sanderson. The motion of a pushed, sliding workpiece. In IEEE Journal of Robotics and Automation, volume RA-4,6, Dec 1988.

    Google Scholar 

  15. M. Mason. Mechanics and planning of manipulator pushing operations. In International journal of robotic research, pages 53–70, 1986.

    Google Scholar 

  16. B. K. P. Horn and B. G. Schunck. Determining optical flow. Artificial Intelligence, 17 No.1–3:185–204, 1981.

    Google Scholar 

  17. H. Nagel. Displacement vectors derived from second-order intensity variations in image sequence. CVGIP, 21:85–117, 1983.

    Google Scholar 

  18. E. C. Hildreth. The Measurement of Visual Motion. MIT Press, Cambridge, USA, 1983.

    Google Scholar 

  19. G. Sandini M. Tistarelli E. De Micheli and V. Torre. Estimation of visual motion and 3d motion parameters from singular points. In Proc. IEEE Workshop on intelligent Robots and Systems, pages 543–548, 1988.

    Google Scholar 

  20. A. Verri F. Girosi and V. Torre. Constraints for the computation of optical flow. In IEEE Int. Conf. on Robotics and Automation, pages 116–124, 1989.

    Google Scholar 

  21. D. Shulman and J. Herve'. Regularization of discontinuous flow fields. In IEEE Int. Conf. on Robotics and Automation, pages 81–86, 1989.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Communication, Computer and Systems Science (DIST) Integrated Laboratory for Advanced Robotics (LIRA — Lab), University of Genoa, Via Opera Pia 11a, 16145, Genova, Italy

    M. Accordino, F. Gandolfo, A. Portunato, G. Sandini & M. Tistarelli

Authors
  1. M. Accordino
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. F. Gandolfo
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. A. Portunato
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. G. Sandini
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. M. Tistarelli
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Raja Chatila Gerd Hirzinger

Rights and permissions

Reprints and permissions

Copyright information

© 1993 Springer-Verlag London Limited

About this paper

Cite this paper

Accordino, M., Gandolfo, F., Portunato, A., Sandini, G., Tistarelli, M. (1993). Object understanding through visuo-motor cooperation. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036153

Download citation

  • DOI: https://doi.org/10.1007/BFb0036153

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19851-2

  • Online ISBN: 978-3-540-39323-8

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation