Directed Curvature Histograms for Robotic Grasping

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Date
2017
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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.
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@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
} }
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