IEEE - Institute of Electrical and Electronics Engineers, Inc. - Rigid body pose and twist scene graph founded on geometric relations semantics for robotic applications

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Tinne De Laet ; Herman Bruyninckx ; Joris De Schutter
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 2,398 - 2,405
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696693
Regular:

This paper presents a scene graph for geometric relations between rigid bodies that keeps track of poses and twists of rigid bodies in the scene. The scene graph relies on semantic pose and twist... View More

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