On the Design and Development of Vision-Based Autonomous Mobile Manipulation

This paper investigates image-feature based visual tracking systems for autonomous mobile manipulation applications. First, we briefly present various visual tracking methods and their components for autonomous tracking applications. Second, we introduce the development process for the most popular image-feature based autonomous visual tracking system for grasping and mobile manipulation applications. Then, the application scenario for evaluation is provided with the detailed software and hardware components for the fire-fighting application. Finally, the evaluation results on a 6-DOF UR5 mobile robot manipulator arms are presented for autonomous grasping and manipulation for valve turning applications.