3D point cloud basic form simplification algorithm for robot autonomous grasping

被引：0
|
作者：
Cao C. [1 ,2 ]
Liu H. [3 ]
Li R. [2 ,4 ]
机构：
[1] School of Computer and Information, Anhui Polytechnic University, Wuhu, 241000, Anhui
[2] HIT Wuhu Robot Technology Research Institute Co. Ltd., Wuhu, 241007, Anhui
[3] School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing
[4] Robotics Institute, Harbin Insitute of Technology, Harbin
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2020年 / 48卷 / 01期
关键词：
Autonomous grasping; Basic form simplification; Irregular object; Mesh segmen- tation; Optimal fitting algorithm; Three-dimensional (3D) point cloud;
D O I：
10.13245/j.hust.200103
中图分类号：
学科分类号：
摘要：
Aiming at the unstructured features of fetching tasks,a basic form simplification algorithm based on point cloud of irregular object was proposed to describe the shapes of complex objects,thus providing ideas for the selection of grasping strategies and improving the accuracy of autonomous grasping of robots.Complex irregular objects were simplified into simple objects that composed of basic shapes.3D data points of object were segmented based on the three dimensional grid segmentation algorithm.Each parts of the segmented object was fitted into a sphere,ellipsoid,cylinder or parallelepiped according to the optimal fitting algorithm to realize simplification of complex object.Experimental results show that the proposed algorithm is robust and can be applied to irregular objects with different shapes and postures. © 2020, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.
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页码：13 / 19
页数：6
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