Shape-primitive based object recognition and grasping

7th German Conference on Robotics, ROBOTIK 2012

Volumn , Issue , 2012, Pages 468-472

  Nieuwenhuisen, Matthias ^a   Stückler, Jörg ^a   Berner, Alexander ^a   Klein, Reinhard ^a   Behnke, Sven ^a  

^a UNIVERSITY OF BONN   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; PILES; ROBOTICS;

3D POINT CLOUD; DETECTION METHODS; GRASPING OBJECTS; MULTISTAGE PROCESS; OBJECT GRASPING; PROBABILISTIC GRAPHS; REACHING MOTION; SERVICE ROBOTS;

OBJECT RECOGNITION;

EID: 84953804311     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (19)

1. Sven Behnke. Local multiresolution path planning. Robocup 2003: Robot Soccer World Cup VII, pages 332-343, 2004.
2. A. Berner, M. Bokeloh, M. Wand, A. Schilling, and H.-P. Seidel. s graph-based approach to symmetry detection. In Proc. of the IEEE/EG International Symposium on Volume and Point-Based Graphics, 2008.
3. M. Bokeloh, A. Berner, M. Wand, and H.-P. Seidel. Symmetry detection using line features. In Proc. of the Eurographics Computer Graphics Forum, 2009.
4. R. C. Bolles and P. Horaud. 3DPO: A three-dimensional part orientation system. International Journal of Robotic Research, 1986.
5. C. Borst, M. Fischer, and G. Hirzinger. A fast and robust grasp planner for arbitrary 3D objects. In Proc. of the IEEE Int. Conf. on Robotics and Automation, 1999.
6. S. Dickinson, A. Pentland, and A. Rosenfeld. From volumes to views: An approach to 3-D object recognition. Computer Vision, Graphics, and Image Processing: Image Understanding, 1992.
7. O.D. Faugeras and M. Hebert. The representation, recognition, and locating of 3-D objects. International Journal of Robotics Research, 1986.
8. M. A. Fischler and R. C. Bolles. Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography. Communications of the ACM, 1981.
9. R. D. Heester, M. Cetin, C. Kapoor, and D. Tesar. A criteria-based approach to grasp synthesis. In Proc. of the IEEE Int. Conf. on Robotics and Automation, 1999.
10. Jörg Stückler, Ricarda Steffens, Dirk Holz, and Sven Behnke. Realtime 3D perception and efficient grasp planning for everyday manipulation tasks. In Proc. of 5th ECMR, 2011.
11. Whoi-Yul Kim and Avinash C. Kak. 3-D object recognition using bipartite matching embedded in discrete relaxation. IEEE Trans. on Pattern Analysis and Machine Intelligence, 1991.
12. J. Krivic and F. Solina. Part-level object recognition using superquadrics. 2004.
13. A. T. Miller, S. Knoop, H. I. Christensen, and P. K. Allen. Automatic grasp planning using shape primitives. In Proc. of the IEEE Int. Conf. on Robotics and Automation, 2003.
14. N. J. Mitra, N. Gelfand, H. Pottmann, and L. Guibas. Registration of point cloud data from a geometric optimization perspective. In Symp. Geometry Processing, 2004.
15. R. Nevita and T. O. Binford. Description and recognition of curved objects. Artificial Intelligence, 1977.
16. R. Schnabel, R. Wahl, and R. Klein. Efficient RANSAC for pointcloud shape detection. In Computer Graphics Forum, 2007.
17. R. Schnabel, R. Wessel, R. Wahl, and R. Klein. Shape recognition in 3D point-clouds. In Proc. of the 16th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision, 2008.
18. I. A. Sucan and L. E. Kavraki. Kinodynamic motion planning by interior-exterior cell exploration. In Algorithmic Foundation of Robotics VIII (Proceedings of Workshop on the Algorithmic Foundations of Robotics), 2009.
19. Z. Xue, A. Kasper, J. M. Zoellner, and R. Dillmann. An automatic grasp planning system for service robots. In Proc. of the 14th Int. sonf. on Advanced Robotics (ICAR), 2009.