{"refrec":{"BRefID":294931,"RR":"<b>Kragic, D.; Daniilidis, K.</b> (2016). 3-D Vision for navigation and grasping, <b><i>in</i></b>: Siciliano, B. <i>et al.</i> <i>Springer handbook of robotics.</i> pp. 811-824. <a href=\"https://dx.doi.org/10.1007/978-3-319-32552-1_32\" target=\"_blank\">https://dx.doi.org/10.1007/978-3-319-32552-1_32</a>","BEntID":287002,"PublicFlag":1,"CheckedFlag":0,"wosflag":null,"vabbflag":null,"RefStringPartII":", <b><i>in</i></b>: Siciliano, B. <i>et al.</i> <i>Springer handbook of robotics.</i> pp. 811-824. <a href=\"https://dx.doi.org/10.1007/978-3-319-32552-1_32\" target=\"_blank\">https://dx.doi.org/10.1007/978-3-319-32552-1_32</a>","DocTypID":17,"DocType":"Book chapters","MarineFlag":0,"FreshFlag":0,"BrackishFlag":0,"TerrestrialFlag":0,"Authorstring":"Kragic, D.; Daniilidis, K.","OrigTitleTranslFlag":0,"Authorstringtrunc":"Kragic, D.; Daniilidis, K.","Englishabstract":"In this chapter, we describe algorithms for three-dimensional (3-D ) vision that help robots accomplish navigation and grasping. To model cameras, we start with the basics of perspective projection and distortion due to lenses. This projection from a 3-D world to a two-dimensional (2-D ) image can be inverted only by using information from the world or multiple 2-D views. If we know the 3-D model of an object or the location of 3-D landmarks, we can solve the pose estimation problem from one view. When two views are available, we can compute the 3-D motion and triangulate to reconstruct the world up to a scale factor. When multiple views are given either as sparse viewpoints or a continuous incoming video, then the robot path can be computer and point tracks can yield a sparse 3-D representation of the world. In order to grasp objects, we can estimate 3-D pose of the end effector or 3-D coordinates of the graspable points on the object.","AbstractOtherLang":null,"BibLvlCode":"AM","StandardTitle":"3-D Vision for navigation and grasping","OrigTitleLangCode":"en","OrigTitleLangCodeExtended":"eng","OrigTitleLangID":15,"DateLastModified":{"date":"2024-12-10 01:33:01.897972","timezone_type":1,"timezone":"+01:00"},"UserAccessRight":null,"UserAccID":null,"AuthorKeywords":null,"OtherDescriptors":null,"Notes":null,"AnaPub":2016,"MonPub":null,"DateUpdate":"2018-04-24","DateCreate":"2018-04-24","SecASFANote":null,"ConfID":null,"PeerRev":0,"VlizCoreFlag":1,"WoScode":null,"VABBcode":null,"OpenAcc":0,"DOI":"10.1007/978-3-319-32552-1_32"},"refs":null,"anarec":{"AnaID":294931,"PubliDate":2016,"Pagination":"811-824","XtraPublOfAnaID":null,"ISBN":"978-3-319-32550-7","Volume":null,"Issue":null,"BRefMon":294900,"BRefMonRR":"<b>Siciliano, B.; Khatib, O. (Ed.)</b> (2016). Springer handbook of robotics. Second edition. Springer Verlag: Berlin. ISBN 978-3-319-32550-7; e-ISBN 978-3-319-32552-1. LXXVI, 2227 pp. <a href=\"https://dx.doi.org/10.1007/978-3-319-32552-1\" target=\"_blank\">https://dx.doi.org/10.1007/978-3-319-32552-1</a>","BRefXtra":null,"BRefXtraRR":null,"SerBRefID":null,"SerRR":null,"StandardTitleSer":null,"ISSN":null,"AbbrevSer":null,"StandardTitleMon":"Springer handbook of robotics","StartPage":811,"Pages":14,"ToPubliDate":null,"BRefBibLvlCode":"M","SerNotes":null,"AutString":"Siciliano, B.; Khatib, O. (Ed.)"},"monrec":null,"serrec":null,"relations":null,"relationsRev":null,"addrec":null,"othpubs":null,"ownerships":null,"authors":[{"AutName":"Kragic","Firstname":"Danica","Initials":"D.","Affiliation":null,"Discriminator":null,"CorporateFlag":0,"BEntID":287002,"AutID":323347,"OrderNr":1,"DegrID":null,"EditorFlag":0,"CorrespFlag":0,"IllustratorFlag":0,"ReviserFlag":0,"TranslatorFlag":0,"InsAcronym":null,"InsFSN":null,"ORCID":null,"PersID":null,"InsID":null},{"AutName":"Daniilidis","Firstname":"Kostas","Initials":"K.","Affiliation":null,"Discriminator":null,"CorporateFlag":0,"BEntID":287002,"AutID":323348,"OrderNr":2,"DegrID":null,"EditorFlag":0,"CorrespFlag":0,"IllustratorFlag":0,"ReviserFlag":0,"TranslatorFlag":0,"InsAcronym":null,"InsFSN":null,"ORCID":null,"PersID":null,"InsID":null}],"mapdetails":null,"datasets":null,"monographs":null,"monparts":null,"serparts":null,"BEntOpen":null,"BEntPrivate":null,"availability":null,"litstyles":null,"thespers":null,"arch2discl":null,"SERpubls":null,"MONpubls":[{"PublName":"Springer Verlag","Place":"Berlin"}],"pictures":[],"thestermsPath":null,"thestermsASFA":null,"taxtermsASFA":null,"geotermsASFA":null,"collections":null,"conf":null,"proj":null,"Physdatasets":null,"spcols":null,"doi":null,"publs":null,"serparttypes":null,"monauthors":[{"AutName":"Siciliano","Initials":"B.","CorporateFlag":0,"BEntID":286971,"AutID":323266,"OrderNr":1,"DegrID":null,"EditorFlag":1,"CorrespFlag":0,"IllustratorFlag":0,"ReviserFlag":0,"TranslatorFlag":0,"AutStrTrunc":"Siciliano, B.; Khatib, O. (Ed.)"},{"AutName":"Khatib","Initials":"O.","CorporateFlag":0,"BEntID":286971,"AutID":292623,"OrderNr":2,"DegrID":null,"EditorFlag":1,"CorrespFlag":0,"IllustratorFlag":0,"ReviserFlag":0,"TranslatorFlag":0,"AutStrTrunc":"Siciliano, B.; Khatib, O. (Ed.)"}],"MParts":null,"SParts":null,"hLibs":null,"langs":[{"BEntID":287002,"AbstractFlag":0,"LangID":15,"LangCode":"en","Lang":"English","DutchTerm":"Engels","LangCodeExtended":"eng"},{"BEntID":287002,"AbstractFlag":1,"LangID":15,"LangCode":"en","Lang":"English","DutchTerm":"Engels","LangCodeExtended":"eng"}],"urls":[{"URL":"https://dx.doi.org/10.1007/978-3-319-32552-1_32","externalID":"10.1007/978-3-319-32552-1_32","URLTypeCode":"DOI","URLID":64186,"URLTypID":13,"URLType":"DOI","URLPrefix":"http://dx.doi.org/"}],"thesterms":null,"taxterms":null,"geoterms":null,"othterms":null,"asfacodes":null,"asfa2codes":null,"thestermsFRIS":null,"taxtermsFRIS":null,"geotermsFRIS":null,"othtermsFRIS":null,"resmessage":"","complete":1,"sessions":{"newSesName":"Verheyde, Fons, F.","newSesDate":{"date":"2018-04-24 08:00:27.443000","timezone_type":3,"timezone":"Europe/Brussels"},"updSesName":"Verheyde, Fons, F.","updSesDate":{"date":"2018-04-24 08:00:27.443000","timezone_type":3,"timezone":"Europe/Brussels"}}}