Grasp Point Detection


Histogram of polar coordinates

Implemented in #81.

see Ramisa at al..


Another option is to use concavity,

Principal curvature


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.

Cloth Grasp Point Detection based on Multiple-View Geometric Cues with Application to Robotic Towel Folding, Shepard at al.

Boosted Edge Orientation Histograms for Grasping Point Detection, Lefakis at al.

icpr2010_ThCT3.4.pdf (734 KB) Libor Wagner, 09/13/2012 11:19

Maitin-ShepardCusumano-TownerLeiAbbeel_ICRA2010.pdf (941 KB) Libor Wagner, 09/13/2012 11:19

1285-Determining-Where-to-Grasp-Cloth-Using-Depth-Information.pdf (2.23 MB) Libor Wagner, 09/13/2012 11:19