Extraction of Solids of Revolution from Point Cloud Scenes for Grasp Planning Tasks
Konferenz: ROBOTIK 2012 - 7th German Conference on Robotics
21.05.2012-22.05.2012 in Munich, Germany
Tagungsband: ROBOTIK 2012
Seiten: 6Sprache: EnglischTyp: PDFPersönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt
Escaida Navarro, Stefan; Klock, Tobias; Braun, Daniel; Wörn, Heinz (Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Germany)
This paper presents a method for constructing high fidelity geometrical models of objects in a point cloud scene with the goal of grasp planning and evaluation. We consider objects whose volume can be modeled as a solid of revolution which is extracted from the scene in a sample consensus framework. The approach also provides a natural strategy for segmenting object features such has cup-handles that are an exception to this shape assumption.