Reconstruction and Verification of 3D Object Models for Grasping

TitleReconstruction and Verification of 3D Object Models for Grasping
Publication TypeConference Paper
Year of Publication2009
AuthorsMarton, Zoltan Csaba., Goron, Lucian., Rusu, Radu Bogdan., and Beetz, Michael
Conference NameThe 14th International Symposium on Robotics Research (ISRR)
Date Published09/2009
Conference LocationLucernce, Switzerland

In this paper we present a method for approximating complete models of objects with 3D shape primitives, by exploiting common symmetries in objects of daily use. Our proposed approach reconstructs boxes and cylindrical parts of objects from sampled point cloud data, and produces CAD-like surface models needed for generating grasping strategies. To verify the results, we present a set of experimental results using real-world data-sets containing a large number of objects from different views.