A Probabilistic Framework to Detect Suitable Grasping Regions on Objects

@inproceedings{Faria2012APF,
  title={A Probabilistic Framework to Detect Suitable Grasping Regions on Objects},
  author={Diego R. Faria and Ricardo Martins and Jorge Lobo and Jorge Dias},
  booktitle={SyRoCo},
  year={2012}
}
This work relies on a probabilistic framework to search for suitable grasping regions on objects. In this approach, the object model is acquired based on occupancy grid representation that deals with the sensor uncertainty allowing later the decomposition of the object global shape into components. Through mixture distribution-based representation we achieve the object segmentation where the outputs are the point cloud clustering. Each object component is matched to a geometrical primitive. The… CONTINUE READING

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