@conference {186, title = {Improving autonomous underwater grasp specification using primitive shape fitting in point clouds}, booktitle = {Seventeenth International Conference of the Catalan Association of Artificial Intelligence (CCIA 2014)}, year = {2014}, month = {10/2014}, publisher = {IOS Press (Frontiers in Artificial Intelligence and Applications)}, organization = {IOS Press (Frontiers in Artificial Intelligence and Applications)}, address = {Barcelona (Spain)}, abstract = {
This paper presents a research in progress towards autonomous under-
water robot manipulation. Current research in underwater robotics intends to increase the autonomy of intervention operations that require physical interaction.\ Autonomous grasping is still a very challenging skill, especially in underwater environments, with highly unstructured scenarios, limited availability of sensors and\ adverse conditions that affect the robot perception and control systems in various\ degrees. To tackle those issues, we propose the use of vision and segmentation\ techniques that aim to improve the specification of grasping operations on underwater primitive shaped objects. Several sources of stereo information are used to\ gather 3D information in order to obtain a model of the object. Using a RANSAC\ primitive shape recognition algorithm, the model parameters are estimated and a\ set of feasible grasps are computed. This approach is validated in simulation and\ the quality of different 3D reconstructions from both real and virtual scenarios is\ analyzed.
}, keywords = {grasp specification, point cloud, RANSAC, shape fitting, underwater autonomous grasping, UWSim underwater realistic simulator}, isbn = {978-1-61499-451-0 (print) | 978-1-61499-452-7 (online)}, doi = {10.3233/978-1-61499-452-7-45}, author = {Fornas, David and Sales, J. and Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.} }