Extraction of Solids of Revolution from Point Cloud Scenes for Grasp Planning Tasks
Stefan Escaida Navarro, Tobias Klock, Daniel Braun, Heinz Woern · German Conference on Robotics · 2012
This paper presents a method for constructing high fidelity geometrical models of objects in a point cloud scene with the goal of grasp planning and evaluation. We consider objects whose volume can be modeled as a solid of revolution which is extracted from the scene in a sample consensus framework. The approach also provides a natural strategy for segmenting object features such has cup-handles that are an exception to this shape assumption.