Grasp Exploration for 3D Object Shape Representation Using Probabilistic Map

@inproceedings{Faria2010GraspEF,
  title={Grasp Exploration for 3D Object Shape Representation Using Probabilistic Map},
  author={Diego R. Faria and Ricardo Martins and Jorge Dias},
  booktitle={DoCEIS},
  year={2010}
}
In this work it is shown the representation of 3D object shape acquired from grasp exploration. Electromagnetic motion tracking sensors are used on the fingers for object contour following to acquire the 3D points to represent its shape using a probabilistic volumetric map. It is used the object referential for its representation. For that, it is found the center of mass of the 3D object through the moments to define its referential. The occupancy of each individual voxel in the map is assumed… CONTINUE READING

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