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Object Recognition Pipeline: Grasping in Domestic Environments
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Author(s): John Alejandro Castro Vargas (University of Alicante, Spain), Alberto Garcia Garcia (University of Alicante, Spain), Sergiu Oprea (University of Alicante, Spain), Sergio Orts Escolano (University of Alicante, Spain)and Jose Garcia Rodriguez (University of Alicante, Spain)
Copyright: 2019
Pages: 13
Source title:
Rapid Automation: Concepts, Methodologies, Tools, and Applications
Source Author(s)/Editor(s): Information Resources Management Association (USA)
DOI: 10.4018/978-1-5225-8060-7.ch021
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Abstract
Object grasping in domestic environments using social robots has an enormous potential to help dependent people with a certain degree of disability. In this chapter, the authors make use of the well-known Pepper social robot to carry out such task. They provide an integrated solution using ROS to recognize and grasp simple objects. That system was deployed on an accelerator platform (Jetson TX1) to be able to perform object recognition in real time using RGB-D sensors attached to the robot. By using the system, the authors prove that the Pepper robot shows a great potential for such domestic assistance tasks.
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