Extraction of Solids of Revolution from Point Cloud Scenes for Grasp Planning Tasks

Conference: ROBOTIK 2012 - 7th German Conference on Robotics
05/21/2012 - 05/22/2012 at Munich, Germany

Proceedings: ROBOTIK 2012

Pages: 6Language: englishTyp: PDF

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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.