论文标题
使用RGB-D相机的容器定位和质量估算
Container Localisation and Mass Estimation with an RGB-D Camera
论文作者
论文摘要
在人类机器人相互作用的研究领域中，仅利用视觉信息操纵的容器的质量自动估计是一项具有挑战性的任务。主要挑战包括遮挡，不同的填充材料和照明条件。物体的质量构成了机器人正确调节容器所需的力的关键信息。我们提出了一种基于RGB-D摄像头的方法来定位操纵容器，并估算其空质量，即与内容的存在无关。该方法首先会根据固定额叶视图的距离自动选择许多候选容器，然后平均轻量级模型的质量预测以提供最终的估计。 Corsmal容器操纵数据集的结果表明，在不同的照明或填充条件下，所提出的方法估计空容器质量的得分为71.08％。
In the research area of human-robot interactions, the automatic estimation of the mass of a container manipulated by a person leveraging only visual information is a challenging task. The main challenges consist of occlusions, different filling materials and lighting conditions. The mass of an object constitutes key information for the robot to correctly regulate the force required to grasp the container. We propose a single RGB-D camera-based method to locate a manipulated container and estimate its empty mass i.e., independently of the presence of the content. The method first automatically selects a number of candidate containers based on the distance with the fixed frontal view, then averages the mass predictions of a lightweight model to provide the final estimation. Results on the CORSMAL Containers Manipulation dataset show that the proposed method estimates empty container mass obtaining a score of 71.08% under different lighting or filling conditions.
