Keywords
Robotic grasping, weighted random forest, support vector machine, decision tree, adaboost, image and point cloud feature, baxter research robot
Abstract
This method demonstrates an approach to determine the best grasping location on an unknown object using Weighted Random Forest Algorithm. It used RGB-D value of an object as input to find a suitable rectangular grasping region as the output. To accomplish this task, it uses a subspace of most important features from a very high dimensional extensive feature space that contains both image and point cloud features. Usage of most important features in the grasping algorithm has enabled the system to be computationally very fast while preserving maximum information gain. In this approach, the Random Forest operates using optimum parameters e.g. Number of Trees, Number of Features at each node, Information Gain Criteria etc. ensures optimization in learning, with highest possible accuracy in minimum time in an advanced practical setting. The Weighted Random Forest chosen over Support Vector Machine (SVM), Decision Tree and Adaboost for implementation of the grasping system outperforms the stated machine learning algorithms both in training and testing accuracy and other performance estimates. The Grasping System utilizing learning from a score function detects the rectangular grasping region after selecting the top rectangle that has the largest score. The system is implemented and tested in a Baxter Research Robot with Parallel Plate Gripper in action.
Notes
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Graduation Date
2014
Semester
Fall
Advisor
Behal, Aman
Degree
Master of Science in Electrical Engineering (M.S.E.E.)
College
College of Engineering and Computer Science
Department
Electrical Engineering and Computer Science
Degree Program
Electrical Engineering
Format
application/pdf
Identifier
CFE0005509
URL
http://purl.fcla.edu/fcla/etd/CFE0005509
Language
English
Release Date
December 2014
Length of Campus-only Access
None
Access Status
Masters Thesis (Open Access)
Subjects
Dissertations, Academic -- Engineering and Computer Science; Engineering and Computer Science -- Dissertations, Academic
STARS Citation
Iqbal, Md Shahriar, "Learning to Grasp Unknown Objects using Weighted Random Forest Algorithm from Selective Image and Point Cloud Feature" (2014). Electronic Theses and Dissertations. 4790.
https://stars.library.ucf.edu/etd/4790