部分遮蔽される物体の三次元位置姿勢計測によるロボットの物体把持

抄録

When grasping an object by the robot hand, the visual information on the grasped object is partially covered by the hand itself and the external environment. In this paper, the method of measuring the three-dimensional position/Orientation of a known object is proposed using envelope points paying attention to the convex hull figure of the object whose visual information always does not change.