BADGr—A toolbox for box-based approximation, decomposition and GRasping
| Autor: | Kai Huebner |
|---|---|
| Rok vydání: | 2012 |
| Předmět: |
Theoretical computer science
Computer science business.industry General Mathematics GRASP Robotics Object (computer science) Field (computer science) Toolbox Computer Science Applications Control and Systems Engineering Simple (abstract algebra) Decomposition (computer science) Artificial intelligence business Representation (mathematics) Software |
| Zdroj: | Robotics and Autonomous Systems. 60:367-376 |
| ISSN: | 0921-8890 |
| DOI: | 10.1016/j.robot.2011.07.021 |
| Popis: | In this paper, we conclude our work on shape approximation by box primitives for the goal of simple and efficient grasping. As a main product of our research, we present the BADGr toolbox for Box-based Approximation, Decomposition and Grasping of objects. The contributions of the work presented here are twofold: in terms of shape approximation, we provide an algorithm for creating a 3D box primitive representation to identify object parts from 3D point clouds. We motivate and evaluate this choice particularly towards the task of grasping. As a contribution in the field of grasping, we further provide a grasp hypothesis generation framework that utilizes the chosen box presentation in a flexible manner. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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