Directed Curvature Histograms for Robotic Grasping
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Date
2017
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association
Abstract
Three-dimensional descriptors are a common tool nowadays, used in a wide range of tasks. Most of the descriptors that have been proposed in the literature focus on tasks such as object recognition and identification. This paper proposes a novel three-dimensional local descriptor, structured as a set of histograms of the curvature observed on the surface of the object in different directions. This descriptor is designed with a focus on the resolution of the robotic grasping problem, especially on the determination of the orientation required to grasp an object. We validate our proposal following a data-driven approach using grasping information and examples generated using the Gazebo simulator and a simulated PR2 robot. Experimental results show that the proposed descriptor is well suited for the grasping problem, exceeding the performance observed with recent descriptors.
Description
@inproceedings{10.2312:3dor.20171060,
booktitle = {Eurographics Workshop on 3D Object Retrieval},
editor = {Ioannis Pratikakis and Florent Dupont and Maks Ovsjanikov},
title = {{Directed Curvature Histograms for Robotic Grasping}},
author = {Schulz, Rodrigo and Guerrero, Pablo and Bustos, Benjamin},
year = {2017},
publisher = {The Eurographics Association},
ISSN = {1997-0471},
ISBN = {978-3-03868-030-7},
DOI = {10.2312/3dor.20171060}
}