Kootstra, Gert3; Popovic, Mila4; Jørgensen, Jimmy Alison4; Kragic, Danica3; Petersen, Henrik Gordon4; Krüger, Norbert4
1 The Maersk Mc-Kinney Moller Institute, Faculty of Engineering, SDU2 SDU Robotics, The Maersk Mc-Kinney Moller Institute, Faculty of Engineering, SDU3 KTH4 The Maersk Mc-Kinney Moller Institute, Faculty of Engineering, SDU
We present a database and a software tool, VisGraB, for benchmarking of methods for vision-based grasping of unknown objects with no prior object knowledge. The benchmark is a combined real-world and simulated experimental setup. Stereo images of real scenes containing several objects in different configurations are included in the database. The user needs to provide a method for grasp generation based on the real visual input. The grasps are then planned, executed, and evaluated by the provided grasp simulator where several grasp-quality measures are used for evaluation. This setup has the advantage that a large number of grasps can be executed and evaluated while dealing with dynamics and the noise and uncertainty present in the real world images. VisGraB enables a fair comparison among different grasping methods. The user furthermore does not need to deal with robot hardware, focusing on the vision methods instead. As a baseline, benchmark results of our grasp strategy are included.