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This paper proposes a light-weight sensor platform that consists of gyro-assisted odometry and a 3D laser scanner for localization of human-scale robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. Robust and computationally inexpensive localization is implemented on...
In this paper a motion planning method for a mobile manipulator is proposed. In general, humans can grasp an object by various way which depends on object posture, position and so on. The objective of this paper is to present how to detect a pose of a mobile manipulator under the condition that several grasp ways are given to the robot. Motion errors and object position errors are considered to detect...
This paper describes a grasp planning for a mobile manipulator which works in real environment. Mobile robot studies up to now that manipulate an object in real world practically use ID tag on an object or an object model which is given to the robot in advance. The authors aim to develop a mobile manipulator that can acquire an object model through video images and can manipulate the object. In this...
This paper presents a method of dense 3-D object modeling based on surface interpolation with line segments. The proposed method first reconstructs edges from an image sequence, and then creates line segments by connecting edge points to cover the object surface. False segments are eliminated using visibility constraints. The method can reconstruct dense models since line segments can be created with...
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