Estimating 3-D rigid body transformations: a comparison of four major algorithms
Machine Vision and Applications - Special issue on performance evaluation
A Geometric Approach to 3D Object Comparison
SMI '01 Proceedings of the International Conference on Shape Modeling & Applications
An Experimental Comparison of Feature-Based 3D Retrieval Methods
3DPVT '04 Proceedings of the 3D Data Processing, Visualization, and Transmission, 2nd International Symposium
Data-Driven Grasp Synthesis Using Shape Matching and Task-Based Pruning
IEEE Transactions on Visualization and Computer Graphics
Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks
WHC '07 Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Surface alignment of 3d spherical harmonic models: application to cardiac MRI analysis
MICCAI'05 Proceedings of the 8th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
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The majority of work related to grasp planning has centered on the understanding of what constitutes a good grasp. However, to reach a good grasp we must first find the relative position of the gripper, its approach vector, and finger configuration. This search problem is the focus of our paper.We propose an on-line method that uses pairwise shape descriptors to quickly find good alignments between the gripper contact surface and the target. Having found a good fit, we then evaluate how alignment quality relates to grasp quality and what can be done to speed up the exploration of the DOF space.