Surface shape from the deformation of apparent contours
International Journal of Computer Vision
How Far 3D Shapes Can Be Understood from 2D Silhouettes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robot grasp synthesis algorithms: a survey
International Journal of Robotics Research
3D surface point and wireframe reconstruction from multiview photographic images
Image and Vision Computing
Robotics: Modelling, Planning and Control
Robotics: Modelling, Planning and Control
Surface model reconstruction of 3D objects from multiple views
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Snakes, shapes, and gradient vector flow
IEEE Transactions on Image Processing
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A new method for fast visual grasp of unknown objects using a camera mounted on a robot in an eye-inhand configuration is presented. The method is composed of a fast iterative object surface reconstruction algorithm and of a local grasp planner, evolving in a synchronized parallel way. The reconstruction algorithm makes use of images taken by a camera carried by the robot. A reconstruction sphere, virtually placed around the object, is iteratively compressed towards the object visual hull, dragging out the fingers attached to it. Between two steps of the reconstruction process, the planner moves the fingers, floating on the current reconstructed surface, according to suitable quality measures. The fingers keep moving until a local minimum is achieved, then a new object surface estimation provided by the reconstruction process is considered. Quality measures considering both hand and grasp proprieties are adopted. Simulations are presented to show the performance of the proposed algorithm.