A Hyperspectral Imaging Guided Robotic Grasping System

Hyperspectral imaging is an advanced technique for precisely identifying and analyzing materials or objects. However, its integration with robotic grasping systems has so far been explored due to the deployment complexities and prohibitive costs. Within this letter, we introduce a novel hyperspectra...

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Veröffentlicht in:IEEE robotics and automation letters Jg. 10; H. 7; S. 7659 - 7666
Hauptverfasser: Sun, Zheng, Dong, Zhipeng, Wang, Shixiong, Chu, Zhongyi, Chen, Fei
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.07.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Cameras
Grasping
Grasping (robotics)
Human performance
Hyperspectral imaging
Nonlinear distortion
perception for grasping and manipulation
Robot sensing systems
Robot vision systems
Robotics
Robots
Service robots
Servomotors
software-hardware integration for robot systems
Sorting
ISSN:2377-3766, 2377-3766
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Zusammenfassung:Hyperspectral imaging is an advanced technique for precisely identifying and analyzing materials or objects. However, its integration with robotic grasping systems has so far been explored due to the deployment complexities and prohibitive costs. Within this letter, we introduce a novel hyperspectral imaging-guided robotic grasping system. The system consists of PRISM (Polyhedral Reflective Imaging Scanning Mechanism) and the SpectralGrasp framework. PRISM is designed to enable high-precision, distortion-free hyperspectral imaging while simplifying system integration and costs. SpectralGrasp generates robotic grasping strategies by effectively leveraging both the spatial and spectral information from hyperspectral images. The proposed system demonstrates substantial improvements in both textile recognition compared to human performance and sorting success rate compared to RGB-based methods. Additionally, a series of comparative experiments further validates the effectiveness of our system. The study highlights the potential benefits of integrating hyperspectral imaging with robotic grasping systems, showcasing enhanced recognition and grasping capabilities in complex and dynamic environments.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2025.3575654