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Title: Probabilistic representation of 3D object shape by in-hand exploration
Authors: Faria, Diego R
Martins, Ricardo Filipe Alves 
Lobo, Jorge
Dias, Jorge
Issue Date: 2010
Abstract: This work presents a representation of 3D object shape using a probabilistic volumetric map derived from in-hand exploration. The exploratory procedure is based on contour following through the fingertip movements on the object surface. We first consider the simple case of having single hand exploration of a static object. The cumulative pose data provides a 3D point cloud that is quantized to the probabilistic volumetric map. For each voxel we have a probability distribution for the occupancy percentage. This is then extended to in-hand exploration of non-static objects. Since the object is moving during the in-hand exploration, and we also consider the use of the other hand for re-grasping, object pose has to be tracked. By keeping track of object motion we can register data to the initial pose to build a consistent object representation. An object centered representation is implemented using the computed object center of mass to define its frame of reference. Results are presented for in-hand exploration of both static and non-static objects that show that valid models can be obtained. The 3D object probabilistic representation can be used in several applications related with grasp generation tasks.
ISBN: 978-1-4244-6674-0
DOI: 10.1109/IROS.2010.5649286
Rights: openAccess
Appears in Collections:FCTUC Eng.Electrotécnica - Artigos em Livros de Actas

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