Partial 3D Reconstruction of Objects for Early Reactive Grasping
نویسندگان
چکیده
Grasping unknown objects in natural environments remains an open problem. An important question is how we devise simple, fast and robust methods that rely on minimal representations of objects. In this report, we present a stereo system that generates grasping hypotheses based on curve matching between two views. The contribution of the work is the use of dynamic time warping approach for enforcing the similarity between the curves in stereo images. This serves as the base for partial reconstruction of objects in 3D. We further show how the system can be used to generate elementary grasping actions or early reactive grasps.
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