2015
Exploiting symmetries and extrusions for grasping household objects
Ana Huamán Quispe, Benoît Milville, Marco A. Gutiérrez, Can Erdogan, Mike Stilman, Henrik Christensen +1
ICRA 2015poster
In this paper we present an approach for creating complete shape representations from a single depth image for robot grasping. We introduce algorithms for completing partial point clouds based on the analysis of symmetry and extrusion patterns in observed shapes. Identified patterns are used to gene…