Using Tabu Search to Find Optimal Grasps in Scenes Represented by Triangular Meshes
نویسندگان
چکیده
Tabu search, an iterative discrete optimization technique which is widely used in the Operations Research community is virtually unknown in Computer Vision and related elds. This paper aims to ll this gap by introducing tabu search through two simple examples and then by describing an implementation of tabu search in a robot vision task. In this task the robot has to take away unmodeled objects from a heap. This heap is represented by a 3-dimensional surface description in form of a mesh of triangles. Tabu search is used to select optimal grasping opportunities in this 3D scene. Then the grasps are performed and the objects are taken away.
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