結合改良式物件姿態估測之最佳機器人夾取策略
dc.contributor | 許陳鑑 | zh_TW |
dc.contributor | Hsu, Chen-Chien | en_US |
dc.contributor.author | 游鈞凱 | zh_TW |
dc.contributor.author | You, Jiun-Kai | en_US |
dc.date.accessioned | 2022-06-08T02:37:02Z | |
dc.date.available | 9999-12-31 | |
dc.date.available | 2022-06-08T02:37:02Z | |
dc.date.issued | 2021 | |
dc.description.abstract | none | zh_TW |
dc.description.abstract | ['Thanks to the recent advancement in technology, robotic development has been gradually evolved from traditional industrial robots capable of performing repetitive and routine tasks to intelligent robots with autonomous vision-based grasping strategy to satisfy the needs for various applications in industries, for example, flexible production in low-volume automation for small and medium-sized businesses (SMBs). To accurately execute tasks for various robots, including industrial, service, andcooperative robots, robotic grasping of objects dominates the performance and reliability for a robotic system. Therefore, an optimal robotic grasping strategy incorporating a multiple-object pose estimation mechanism is presented in this thesis, where a RGB camera, rather than a RGB-D camera, is only used to estimate the 6DoF object pose in the images through a proposed object pose estimation system incorporating a projection loss function and refinement network. On the basis of the obtained 6-DoF object pose estimation, we can analyze the transformed 3D cloud of the object via the estimated object pose to derive an optimal grasp pose for the robot arm. As a result, the robotic system can efficiently grasp objects with arbitrary poses in the environment.'] | en_US |
dc.description.sponsorship | 電機工程學系 | zh_TW |
dc.identifier | 60875004H-38884 | |
dc.identifier.uri | https://etds.lib.ntnu.edu.tw/thesis/detail/8c6bbe784368478f32f1668892fe1d1d/ | |
dc.identifier.uri | http://rportal.lib.ntnu.edu.tw/handle/20.500.12235/116955 | |
dc.language | 英文 | |
dc.subject | none | zh_TW |
dc.subject | object pose estimation | en_US |
dc.subject | LINEMOD | en_US |
dc.subject | Occlusion LINEMOD | en_US |
dc.subject | grasp strategy | en_US |
dc.title | 結合改良式物件姿態估測之最佳機器人夾取策略 | zh_TW |
dc.title | Optimal Robotic Grasping Strategy Incorporating Improved Object Pose Estimation | en_US |
dc.type | 學術論文 |