UC-180 Intelligent Object Retrieval using Mobile Manipulator

A mobile manipulator for intelligent object retrieval is presented. The system was integrated using state of the art R&D hardware and software, which implemented autonomous navigation, object recognition, and object pose estimation based optimal grasping. The retrieval of an object of interest is commanded that involves subsequent object detection and recognition while autonomously navigating using the known map and starting from an arbitrary position. From close proximity, object pose estimation based optimal grasp is selected to pick up the object. The object is retrieved back to the start position in this scenario. An 84% trial-phase precision in object retrieval is achieved that can be improved using better models.