Grasping arbitrarily shaped 3-D objects from a pile
Grasping arbitrarily shaped 3-D objects from a pile
复制标题
从一堆任意形状的 3D 物体中抓取
DOI：
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发表时间：
1995
期刊：
影响因子：
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通讯作者：
A. Leonardis
中科院分区：
文献类型：
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作者：
M. Trobina;A. Leonardis
提出了一种可靠、鲁棒的方法来解决从一堆物体中抓取任意形状的三维物体的问题。该方法遵循目的性视觉范式，即人们应该只提取执行特定任务所需的尽可能多的信息，例如抓取，而不需要完整而精确地恢复物体的形状。作者表明，通过恢复和选择范式获得的平面斑块包含足够的信息，可以生成目标假设并估计目标的抓取点。作者给出了在实景图像上对多面体和曲面物体的一些结果。
Presents a reliable and robust approach to the problem of grasping arbitrarily shaped 3-D objects from a pile. The approach adheres to the paradigm of purposive vision, which says that one should only extract as much information as it is needed to perform a certain task, e.g. grasping, while a complete and precise recovery of the shape of the objects is not necessary. The authors show that planar patches obtained by the recover-and-select paradigm contain enough information to enable generating object hypotheses and to estimate grasping points for the objects. The authors present some results for objects with polyhedral as well as with curved surfaces obtained on real range images.