World modeling for a sensor-in-hand robot arm

19 November 2002

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 2, 110-115 vol.2
https://doi.org/10.1109/iros.1995.526147

Abstract

In many robotics applications, e.g. telerobotics under long time delay, building a geometric world model from multisensory data is a crucial requirement. Using a sensor-in-hand configuration to generate a model referenced to the robot base, imposes specific problems. Moving the sensor frame on an arbitrary path over and around an unknown object generates a completely unordered 'data cloud'. A surface reconstruction algorithm, which is based on Kohonen's self-organizing feature maps is used to process this data cloud and to generate a useful surface description. This surface can be used for object recognition and pose estimation using algorithms which were developed in the field of range image understanding.

Keywords

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