Title :
Using superquadrics for the approximation of objects and its application to grasping
Author :
Strand, Marcus ; Xue, Zhixing ; Zoellner, Marius ; Dillmann, Rudiger
Author_Institution :
Intell. Syst. & Production Eng. (ISPE), FZI - Res. Center for Inf. Technol., Karlsruhe, Germany
Abstract :
Objects grasping and manipulation is a major task for housold and industrial robots. Sensing the objects with 3D laser scanners generating point clouds is a common approach for gathering object information. The abstraction from the raw pointclouds to high level representations is a necessity in the real world domain. This paper describes a method for the approximation of objects from scenes and an application to grasping with multi fingered hands. For this task a solution based on superquadrics is presented.
Keywords :
image segmentation; industrial robots; least squares approximations; object recognition; shape recognition; 3D laser scanners; household robots; industrial robots; multifingered hands; object approximation; object grasping; object manipulation; superquadrics; Automation; Clouds; Grasping; Intelligent robots; Intelligent systems; Layout; Production engineering; Service robots; Shape; Surface fitting; Grasping; Pointclouds; Split-and-Merge; Superquadrics;
Conference_Titel :
Information and Automation (ICIA), 2010 IEEE International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-5701-4
DOI :
10.1109/ICINFA.2010.5512331
