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Stable Matching Between a Hand Structure and an Object Silhouette

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1 Author(s)
Boissonnat, Jean-Daniel ; Institut National d''Informatique et d''Automatique (INRIA), 78153 Le Chesnay Cédex, France.

A method is proposed which determines the possible ways to grasp an object, defined by its silhouette. This method is quite general and versatile: the geometry of the object is arbitrary and a large class of grippers is allowed; no a priori information is needed, except the parameters of the gripper, and so the method applies, in particular, to all the automatic prehension problems when the object and/or its orientation are unknown. Suitable segmentation and parametrization of the silhouette yields an explicit solution and a very fast and simple algorithm.

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Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:PAMI-4 ,  Issue: 6 )