On the Design and Development of Vision-Based Autonomous Mobile Manipulation

Shafiqul Islam, Jorge DIas, Anderson Sunda-Meya

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

This paper investigates image-feature based visual tracking systems for autonomous mobile manipulation applications. First, we briefly present various visual tracking methods and their components for autonomous tracking applications. Second, we introduce the development process for the most popular image-feature based autonomous visual tracking system for grasping and mobile manipulation applications. Then, the application scenario for evaluation is provided with the detailed software and hardware components for the fire-fighting application. Finally, the evaluation results on a 6-DOF UR5 mobile robot manipulator arms are presented for autonomous grasping and manipulation for valve turning applications.

Original languageBritish English
Title of host publicationIECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
ISBN (Electronic)9781665435543
DOIs
StatePublished - 13 Oct 2021
Event47th Annual Conference of the IEEE Industrial Electronics Society, IECON 2021 - Toronto, Canada
Duration: 13 Oct 202116 Oct 2021

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2021-October

Conference

Conference47th Annual Conference of the IEEE Industrial Electronics Society, IECON 2021
Country/TerritoryCanada
CityToronto
Period13/10/2116/10/21

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