Gaussian process implicit surfaces for shape estimation and grasping

@article{Dragiev2011GaussianPI,
  title={Gaussian process implicit surfaces for shape estimation and grasping},
  author={Stanimir Dragiev and Marc Toussaint and Michael Gienger},
  journal={2011 IEEE International Conference on Robotics and Automation},
  year={2011},
  pages={2845-2850}
}
The choice of an adequate object shape representation is critical for efficient grasping and robot manipulation. A good representation has to account for two requirements: it should allow uncertain sensory fusion in a probabilistic way and it should serve as a basis for efficient grasp and motion generation. We consider Gaussian process implicit surface potentials as object shape representations. Sensory observations condition the Gaussian process such that its posterior mean defines an… CONTINUE READING

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