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The active perception makes an important step towards the integration of the sensing in the planning phase of the object manipulation. Closing the perception-planning loop iteratively, this helps to reduce the uncertainty in the sensing and planning offering better scene parsing and object manipulation applications. In this paper we show the active perception concept using an industrial like scene...
This paper presents an indoor object handling application using a 7 degree of freedom lightweight robotic arm and a commercial depth sensor. The motion planning for such a complex arm is demanding, especially in a cluttered scenes, like the majority of human environments are. In order to cope with this task we designed and implemented the direct and inverse kinematics for the arm as well as the perception...
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