Gripping information for a robot from silhouettes

Abstract

The system described is able to extract gripping information for a robot in most of the cases occurring in real life. For this step no individual object models were necessary. However, it was essential to use other general information on the objects like their symmetry properties. It was computationally advantageous to use contour information and not raster information. A method to deal with transparent and specularly reflecting objects is discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>