Grasp Point Detection¶
Histogram of polar coordinates¶
Implemented in #81.
see Ramisa at al..
Another option is to use concavity,
Determining Where to Grasp Cloth Using Depth Information, Ramisa at al.¶
Ramisa at al. uses a three finger gripper, therefore, they seek hill like points. Their method use a histogram of a polar coordinates of points from some neighbourhood. The histogram is then measured by entropy. The disadvantage is that the valleys have also high response.
This approach was implemented in #81.