Autonomous Object Model Acquisition with a Robotic Arm

Abstract

This paper presents an autonomous object registration pipeline deployed on a self-contained camera and robotic arm hardware system that produces 3D object point clouds. Experimentation evaluates the quantitative and qualitative aspects of the produced point clouds, and we show that our methods produce representations comparable with state-of-the-art methods. It is our hope that the solution presented in this paper will aid in perception-based tasks that require identifying and interacting with objects in an unstructured environment.