面向户外环境垃圾抓取的视觉与触觉机器人系统
Vision and Tactile Robotic System to Grasp Litter in Outdoor Environments
AI总结：
提出一种结合视觉与触觉的机械臂系统，用于户外垃圾检测、定位与抓取，实验平均收集成功率达94%。
摘要：
垃圾的堆积在许多地方日益增加，因此已成为一个必须处理的问题。本文提出了一种用于在户外环境中收集垃圾的机械臂机器人系统。该系统具有三项功能。首先，它使用彩色图像来检测并识别由不同材料构成的垃圾。其次，将深度数据与废物对象的像素相结合，以计算3D位置，并分割场景中垃圾物品的三维点云。随后，针对每个废物实例的分割点云，为带有夹爪的机器人手臂估计3自由度（DoFs）的抓取。最后，实现并采用两种基于触觉的算法，以赋予夹爪触觉感知。本工作使用两个低成本的基于视觉的触觉传感器置于指尖。其中一个用于检测夹爪与固体废物之间的接触（通过触觉图像获得），另一个则设计用于检测滑动，以防止被抓取的对象掉落。我们的方案通过在不同户外环境（瓷砖路面、石头/土壤表面和草地）中对不同尺寸、纹理、几何形状和材料的多种物体进行广泛实验，成功得到了验证。我们的系统在整体性能上，检测和收集成功率（CSR）平均得分达到94%，首次尝试收集垃圾物品的成功率为80%。
英文摘要：
The accumulation of litter is increasing in many places and is consequently becoming a problem that must be dealt with. In this paper, we present a manipulator robotic system to collect litter in outdoor environments. This system has three functionalities. Firstly, it uses colour images to detect and recognise litter comprising different materials. Secondly, depth data are combined with pixels of waste objects to compute a 3D location and segment three-dimensional point clouds of the litter items in the scene. The grasp in 3 Degrees of Freedom (DoFs) is then estimated for a robot arm with a gripper for the segmented cloud of each instance of waste. Finally, two tactile-based algorithms are implemented and then employed in order to provide the gripper with a sense of touch. This work uses two low-cost visual-based tactile sensors at the fingertips. One of them addresses the detection of contact (which is obtained from tactile images) between the gripper and solid waste, while another has been designed to detect slippage in order to prevent the objects grasped from falling. Our proposal was successfully tested by carrying out extensive experimentation with different objects varying in size, texture, geometry and materials in different outdoor environments (a tiled pavement, a surface of stone/soil, and grass). Our system achieved an average score of 94% for the detection and Collection Success Rate (CSR) as regards its overall performance, and of 80% for the collection of items of litter at the first attempt.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
