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In this work, a control scheme for approaching and unveiling a partiallyoccluded object of interest is proposed.The control scheme is based only on theclassified point cloud obtained by the in-hand camera attached to the robot'send effector. It is shown that the proposed controller reaches in the vicinityof the object progressively unveiling the neighborhood of each visible point ofthe object of interest. It can therefore potentially achieve the completeunveiling of the object. The proposed control scheme is evaluated throughsimulations and experiments with a UR5e robot with an in-hand RealSense cameraon a mock-up vine setup for unveiling the stem of a grape.

A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot