We address the problem of active object investigation using robotic manipulators and Kinect-style RGB-D depth sensors. To do so, we jointly tackle the issues of sensor to robot calibration, manipulator tracking, and 3D object model construction. We additionally consider the problem of motion and grasp planning to maximize coverage of the object.

This project is affiliated with the Robotics and State Estimation Lab.

Publications

Autonomous Generation of Complete 3D Object Models Using Next Best View Manipulation Planning Autonomous Generation of Complete 3D Object Models Using Next Best View Manipulation Planning
Michael Krainin, Brian Curless and Dieter Fox
International Conference on Robotics and Automation, 2011. Full Paper (PDF)
Manipulator and Object Tracking for In-Hand 3D Object Modeling
Michael Krainin, Peter Henry, Xiaofeng Ren and Dieter Fox
International Journal of Robotics Research, 2011. Journal Article (PDF)