Reliable hand camera based book detection and manipulation in library scenario

In this paper a new approach for detection, grasping and placing of books is described. The location as well as book´s size, color and textures are unknown. Therefore the autonomous book detection and grasping is a big challenge. In this work, the proposed approach is implemented in the scope of a library scenario in which a service robotic system operates. The proposed approach uses stereo vision for coarse approach to the next book, which should be grasped, and a hand camera (mounted on the gripper) based positioning strategy to achieve a high success rate of grasping. The full concept was implemented and tested on the service robot FRIEND. It should support a handicapped person to work and to perform all manipulative tasks. These contain the autonomous book detection on a book cart, the grasping and placing of the book on a book holder and later onto the cart again. The benefit of our approach is documented based on experimental results.