Automatic Layered 3D Reconstruction of Simplified Object Models for Grasping

Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany

Proceedings: ISR/ROBOTIK 2010

Pages: 6Language: englishTyp: PDF

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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.