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Vision-based grasp planning of 3D objects by extending 2D contour based algorithms

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3 Author(s)
Speth, J. ; Tech. Univ. Munchen, Munich ; Morales, A. ; Sanz, P.J.

This paper addresses the problem of grasp planning of unmodelled 3D objects with the aide of vision. The approach proposes the extension of fast 2D contour-based grasp planning algorithms, and the use of images of the target object from different points of view to recover critical 3D information like the size, location and the pose. A complete method is described, and experimental results are presented showing its feasibility.

Published in:

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Date of Conference:

22-26 Sept. 2008

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