Please use this identifier to cite or link to this item: http://hdl.handle.net/10316/92468
Title: Grasp Exploration for 3D Object Shape Representation Using Probabilistic Map
Authors: Faria, Diego R.
Martins, Ricardo Filipe Alves 
Dias, Jorge
Issue Date: 2010
Series/Report no.: IFIP Advances in Information and Communication Technology;
Volume: 314
Abstract: In this work it is shown the representation of 3D object shape acquired from grasp exploration. Electromagnetic motion tracking sensors are used on the fingers for object contour following to acquire the 3D points to represent its shape using a probabilistic volumetric map. It is used the object referential for its representation. For that, it is found the center of mass of the 3D object through the moments to define its referential. The occupancy of each individual voxel in the map is assumed to be independent from the other voxels occupancy. The posteriori achieved from Bayes’ rule is the probability distribution on the occupations percentage for each voxel. The probabilistic map in a Cartesian system is converted to the spherical coordinate system for visualization with more details on its surface.
URI: http://hdl.handle.net/10316/92468
ISBN: 978-3-642-11627-8
978-3-642-11628-5
ISSN: 1868-4238
1868-422X
DOI: 10.1007/978-3-642-11628-5_23
Rights: openAccess
Appears in Collections:FCTUC Eng.Electrotécnica - Artigos em Livros de Actas

Files in This Item:
File Description SizeFormat
full-text.pdffull-text352.57 kBAdobe PDFView/Open
Show full item record

Page view(s)

31
checked on Jan 21, 2021

Download(s)

10
checked on Jan 21, 2021

Google ScholarTM

Check

Altmetric

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.