Automatic Layered 3D Reconstruction of Simplified Object Models for Grasping
Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany
Tagungsband: ISR/ROBOTIK 2010
Seiten: 6Sprache: EnglischTyp: PDFPersönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt
Goron, Lucian Cosmin; Lazea, Gheorghe (Technical University of Cluj-Napoca, Dorobantilor 71-73, 400609 Cluj-Napoca, Romania)
Marton, Zoltan Csaba; Beetz, Michael (Technische Universität München, Boltzmannstr. 3, 85748 Garching b. München, Germany)
Most grasping systems require complete CAD models as input, but building these models automatically is not straightforward. We propose a strategy for approximating complete models of previously unknown objects from a single 3D scan of a cluttered scene. We achieve this by exploiting common symmetries in objects of daily use, and by handling over- and under-segmentation issues. The idea is to use 3D shape primitives by breaking up objects into parts than can be approximated by boxes and cylinders. To validate the reconstruction, we present a set of experimental results using real-world data-sets containing a large number of objects from different scan-points.