Probabilistic representation of 3D object shape by in-hand exploration
@article{Faria2010ProbabilisticRO, title={Probabilistic representation of 3D object shape by in-hand exploration}, author={Diego R. Faria and Ricardo Martins and J. Lobo and J. Dias}, journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2010}, pages={1560-1565} }
This work presents a representation of 3D object shape using a probabilistic volumetric map derived from in-hand exploration. The exploratory procedure is based on contour following through the fingertip movements on the object surface. We first consider the simple case of having single hand exploration of a static object. The cumulative pose data provides a 3D point cloud that is quantized to the probabilistic volumetric map. For each voxel we have a probability distribution for the occupancy… CONTINUE READING
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