Using Geometry to Detect Grasping Points on 3D Unknown Point Cloud
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http://hdl.handle.net/10045/75568
Title: | Using Geometry to Detect Grasping Points on 3D Unknown Point Cloud |
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Authors: | Zapata-Impata, Brayan S. | Mateo Agulló, Carlos | Gil, Pablo | Pomares, Jorge |
Research Group/s: | Automática, Robótica y Visión Artificial | Human Robotics (HURO) |
Center, Department or Service: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Keywords: | Grasping | 3D Point Clouds | Surface Detection | Handle Grasping | Unknown Object Manipulation |
Knowledge Area: | Ingeniería de Sistemas y Automática |
Issue Date: | 26-Jul-2017 |
Publisher: | SciTePress |
Citation: | Zapata-Impata, Brayan S., et al. (2017). “Using Geometry to Detect Grasping Points on 3D Unknown Point Cloud”. In: Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017). Vol. 2, 154-161. doi:10.5220/0006470701540161 |
Abstract: | In this paper, we focus on the task of computing a pair of points for grasping unknown objects, given a single point cloud scene with a partial view of them. The main goal is to estimate the best pair of 3D-located points so that a gripper can perform a stable grasp over the objects in the scene with no prior knowledge of their shape. We propose a geometrical approach to find those contact points by placing them near a perpendicular cutting plane to the object’s main axis and through its centroid. During the experimentation we have found that this solution is fast enough and gives sufficiently stable grasps for being used on a real service robot. |
Sponsor: | This work was funded by the Spanish Government Ministry of Economy, Industry and Competitiveness through the project DPI2015-68087-R and the predoctoral grant BES-2016-078290. |
URI: | http://hdl.handle.net/10045/75568 |
ISBN: | 978-989-758-264-6 |
DOI: | 10.5220/0006470701540161 |
Language: | spa |
Type: | info:eu-repo/semantics/conferenceObject |
Rights: | © 2017 by SCITEPRESS – Science and Technology Publications, Lda. |
Peer Review: | si |
Publisher version: | https://doi.org/10.5220/0006470701540161 |
Appears in Collections: | INV - HURO - Comunicaciones a Congresos, Conferencias, etc. INV - AUROVA - Comunicaciones a Congresos Internacionales |
Files in This Item:
File | Description | Size | Format | |
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ICINCO_2017_182_CR.pdf | Versión revisada (acceso abierto) | 2,09 MB | Adobe PDF | Open Preview |
ICINCO_2017_182_final.pdf | Versión final (acceso restringido) | 2,13 MB | Adobe PDF | Open Request a copy |
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